EdgeBotix / motors

Initial Commit

motors.cpp@1:201d986498c7, 2014-10-05 (annotated)

Committer:
Throwbot
Date:
Sun Oct 05 12:20:47 2014 +0000
Revision:
1:201d986498c7
Parent:
0:5b2bf6e79b07 
Motors code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Throwbot 0:5b2bf6e79b07 1 #include "motors.h"
Throwbot 0:5b2bf6e79b07 2
Throwbot 0:5b2bf6e79b07 3 Motors::Motors(TB6612 * L, TB6612 * R, PinName STBY):
Throwbot 0:5b2bf6e79b07 4 Left(L), Right(R), enable(STBY)
Throwbot 0:5b2bf6e79b07 5 {
Throwbot 0:5b2bf6e79b07 6 enable = 1;
Throwbot 0:5b2bf6e79b07 7 }
Throwbot 0:5b2bf6e79b07 8
Throwbot 0:5b2bf6e79b07 9 void Motors::flip()
Throwbot 0:5b2bf6e79b07 10 {
Throwbot 0:5b2bf6e79b07 11 TB6612 * temp = Left;
Throwbot 0:5b2bf6e79b07 12 Left = Right;
Throwbot 0:5b2bf6e79b07 13 Right = temp;
Throwbot 0:5b2bf6e79b07 14
Throwbot 0:5b2bf6e79b07 15 Left->scale *= -1;
Throwbot 0:5b2bf6e79b07 16 Right->scale *= -1;
Throwbot 1:201d986498c7 17 }
Throwbot 1:201d986498c7 18 void Motors::reverse(bool m)
Throwbot 1:201d986498c7 19 {
Throwbot 1:201d986498c7 20 if(m)
Throwbot 1:201d986498c7 21 Right->scale *= -1; //reverse right motor
Throwbot 1:201d986498c7 22 else
Throwbot 1:201d986498c7 23 Left->scale *= -1; //reverse left motor
Throwbot 1:201d986498c7 24 }
Throwbot 1:201d986498c7 25
Throwbot 1:201d986498c7 26 //TODO: write in a function that automatically sets the motors to be oriented properly. Use the
Throwbot 1:201d986498c7 27 //gyroscopes and accelerometer to do this.