53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
#include "Motor.h"
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#include <time.h>
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#include <Arduino.h>
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Motor::Motor() {
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// this->isMotor = true;
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type = Type::Motor;
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}
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// Motor::Motor(uint8_t pinIn1, uint8_t pinIn2) {
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// this->pinIn1 = pinIn1;
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// this->pinIn2 = pinIn2;
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// pinMode(pinIn1, OUTPUT); // configure the in1 pin to output mode
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// pinMode(pinIn2, OUTPUT); // configure the in2 pin to output mode
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// }
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// void Motor::SetDirection(Direction direction) {
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// digitalWrite(pinIn1, direction);
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// digitalWrite(pinIn2, !direction); // This is the opposite of pinIn1
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// }
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// void Motor::SetSpeed(float speed) { // 0..1
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// currentSpeed = speed;
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// uint8_t motorSignal = (uint8_t)(speed * 255);
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// analogWrite(pinIn1, speed);
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// analogWrite(pinIn2, 255 - speed);
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// }
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float Motor::GetSpeed() {
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return this->currentSpeed;
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}
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void Motor::SetSpeed(float speed) {
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this->currentSpeed = speed;
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}
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bool Motor::Drive(float distance) {
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if (!this->driving) {
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this->startTime = time(NULL);
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this->targetDistance = abs(distance);
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this->driving = true;
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}
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double duration = difftime(time(NULL), this->startTime);
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if (duration >= this->targetDistance) {
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this->driving = false;
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return true;
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}
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SetSpeed(distance < 0 ? -1 : 1);
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return false;
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} |