Dominik Święch / Mbed 2 deprecated Engine

Czosnekengine/UART

Dependencies:   mbed

Fork of Czosnekengine by Dominik Święch

Engine.cpp

Committer:
yruiewyrui3
Date:
2016-05-19
Revision:
1:3e89e116e4a7
Parent:
0:a0c8b50a7292

File content as of revision 1:3e89e116e4a7:

#include "Engine.h"

// przelicza procenty na pwn:
// - wartosc poczatkowa - 0.2377,
// - prog - 0.0077
float Engine::getPwm(float speed){
    if (speed == 0)
        return 0;
    else if (speed > 0)
        return 0.2377f + (fabs(speed) - 1) * 0.0077f;
    else
        return 0.406f + (fabs(speed) - 1) * 0.006f;
    }

void Engine::move(int speed){
    if (speed == 0){
        //soft stop
        _fwd = 0;
        _rev = 0;  
        return;
    }
        
    if (speed < 0){
        _fwd = 0;
        _rev = 1;
    }
    else{
        _fwd = 1;
        _rev = 0;
    }
    _pwm = getPwm(speed);
}

//hard stop
void Engine::stop(){
    _pwm = 0;
}