From d30c7279b6031a8161a436949a0096ef6b87e849 Mon Sep 17 00:00:00 2001 From: shrkey Date: Mon, 10 Oct 2016 22:08:21 +0100 Subject: [PATCH] rejig run --- darkwater/DW640.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/darkwater/DW640.cpp b/darkwater/DW640.cpp index 24d952b..08a18b6 100644 --- a/darkwater/DW640.cpp +++ b/darkwater/DW640.cpp @@ -284,15 +284,15 @@ void DW_Motor::setMotorSpeed(int16_t speed) { // Speed deciphering for the two control modes if( speed >= 1000 && speed < 1500 ) { - run( DW_REVERSE, in1, in2, map(speed, 1500, 1000, 0, 255 ) ); + run( DW_REVERSE, map(speed, 1500, 1000, 0, 255 ) ); } else if( speed > 1500 && speed <= 2000 ) { - run( DW_FORWARD, in1, in2, map(speed, 1500, 2000, 0, 255 ) ); + run( DW_FORWARD, map(speed, 1500, 2000, 0, 255 ) ); } else if( speed > 0 && speed <= 255 ) { - run( DW_FORWARD, in1, in2, speed ); + run( DW_FORWARD, speed ); } else if( speed < 0 && speed >= -255 ) { - run( DW_REVERSE, in1, in2, abs(speed) ); + run( DW_REVERSE, abs(speed) ); } else if( speed == 0 || speed == 1500 ) { - run( DW_STOP, in1, in2, speed ); + run( DW_STOP, speed ); } @@ -303,7 +303,7 @@ void DW_Motor::off(void) { setMotorSpeed( 0 ); } -void DW_Motor::run( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed ) { +void DW_Motor::run( uint8_t control, uint16_t speed ) { // get the mode if( DWC->getMode() == DW_PHASE ) { if( control == DW_FORWARD ) {