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Motor.cpp@0:01a8e9b87e2f, 2009-09-20 (annotated)

User	Revision	Line number	New contents of line
chris	0:01a8e9b87e2f	1	#include "Motor.h"
chris	0:01a8e9b87e2f	2	#include "mbed.h"
chris	0:01a8e9b87e2f	3
chris	0:01a8e9b87e2f	4
chris	0:01a8e9b87e2f	5	// ==================================================================
chris	0:01a8e9b87e2f	6	// Constructor
chris	0:01a8e9b87e2f	7	// ==================================================================
chris	0:01a8e9b87e2f	8	Motor::Motor(PinName pwm, PinName fwd, PinName rev):
chris	0:01a8e9b87e2f	9	_pwm(pwm), _fwd(fwd), _rev(rev) {
chris	0:01a8e9b87e2f	10
chris	0:01a8e9b87e2f	11	// Set initial condition of PWM
chris	0:01a8e9b87e2f	12	_pwm.period(0.001);
chris	0:01a8e9b87e2f	13	_pwm = 0;
chris	0:01a8e9b87e2f	14
chris	0:01a8e9b87e2f	15	// Initial condition of output enables
chris	0:01a8e9b87e2f	16	_fwd = 0;
chris	0:01a8e9b87e2f	17	_rev = 0;
chris	0:01a8e9b87e2f	18
chris	0:01a8e9b87e2f	19	}
chris	0:01a8e9b87e2f	20
chris	0:01a8e9b87e2f	21
chris	0:01a8e9b87e2f	22	// ==================================================================
chris	0:01a8e9b87e2f	23	// Set the motor speed and direction
chris	0:01a8e9b87e2f	24	// ==================================================================
chris	0:01a8e9b87e2f	25	void Motor::speed(float speed) {
chris	0:01a8e9b87e2f	26	_fwd = (speed > 0.0);
chris	0:01a8e9b87e2f	27	_rev = (speed < 0.0);
chris	0:01a8e9b87e2f	28	_pwm = abs(speed);
chris	0:01a8e9b87e2f	29	}
chris	0:01a8e9b87e2f	30
chris	0:01a8e9b87e2f	31
chris	0:01a8e9b87e2f	32