Revision 3:7f1fd2d62c72, committed 2014-02-27

Comitter:

cbradford

Date:

Thu Feb 27 01:40:41 2014 +0000

Parent:

2:f265e441bcd9

Commit message:

Changed the Motor.cpp and Motor.h to deal with two PWMs, instead of 1 PWM and 2 Digital

Changed in this revision

--- a/Motor.cpp	Tue Nov 23 16:16:43 2010 +0000
+++ b/Motor.cpp	Thu Feb 27 01:40:41 2014 +0000
@@ -24,22 +24,21 @@
 
 #include "mbed.h"
 
-Motor::Motor(PinName pwm, PinName fwd, PinName rev):
-        _pwm(pwm), _fwd(fwd), _rev(rev) {
-
-    // Set initial condition of PWM
-    _pwm.period(0.001);
-    _pwm = 0;
+Motor::Motor(PinName fwd, PinName rev):
+        _fwd(fwd), _rev(rev) {
 
     // Initial condition of output enables
     _fwd = 0;
+    _fwd.period(0.001);
     _rev = 0;
+    _rev.period(0.001);
 }
 
 void Motor::speed(float speed) {
-    _fwd = (speed > 0.0);
-    _rev = (speed < 0.0);
-    _pwm = abs(speed);
+    if(speed > 0.0)
+        _fwd = abs(speed);
+    else
+        _rev = abs(speed);
 }
 
 

--- a/Motor.h	Tue Nov 23 16:16:43 2010 +0000
+++ b/Motor.h	Thu Feb 27 01:40:41 2014 +0000
@@ -34,11 +34,10 @@
 
     /** Create a motor control interface    
      *
-     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
-     * @param fwd A DigitalOut, set high when the motor should go forward
-     * @param rev A DigitalOut, set high when the motor should go backwards
+     * @param fwd A PwmOut pin, set value when the motor should go forward
+     * @param rev A PwmOut pin, set value when the motor should go backwards
      */
-    Motor(PinName pwm, PinName fwd, PinName rev);
+    Motor(PinName fwd, PinName rev);
     
     /** Set the speed of the motor
      * 
@@ -47,10 +46,8 @@
     void speed(float speed);
 
 protected:
-    PwmOut _pwm;
-    DigitalOut _fwd;
-    DigitalOut _rev;
-
+    PwmOut _fwd;
+    PwmOut _rev;
 };
 
 #endif