Mouse code for the MacroRat
motor.cpp
- Committer:
- sahilmgandhi
- Date:
- 2017-06-03
- Revision:
- 46:b156ef445742
- Parent:
- 15:b80555a4a8b9
File content as of revision 46:b156ef445742:
#include "mbed.h" #include "motor.h" void Motor::backward(double voltage) { if(voltage > maxSpeed){ voltage = maxSpeed; }else if(voltage < minSpeed){ voltage = minSpeed; } enableForw.write(0); enableBack.write(1); motorSpeed.write( voltage ); } void Motor::forward(double voltage) { if(voltage > maxSpeed){ voltage = maxSpeed; }else if(voltage < minSpeed){ voltage = minSpeed; } enableForw.write(1); enableBack.write(0); motorSpeed.write( voltage ); } void Motor::move(double voltage) { if(voltage < 0){ backward(-voltage); } if(voltage > 0){ forward(voltage); } } void Motor::brake() { enableForw.write(1); enableBack.write(1); motorSpeed.write( BRAKE_VOLTAGE ); } void Motor::coast() { enableForw.write(0); enableBack.write(0); motorSpeed.write( 0 ); }