h3n3/darkwater_cplus_640
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rejig run

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This commit is contained in:
shrkey
2016-10-10 22:08:21 +01:00
parent a33420d165
commit d30c7279b6
1 changed files with 6 additions and 6 deletions
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12
darkwater/DW640.cpp
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@@ -284,15 +284,15 @@ void DW_Motor::setMotorSpeed(int16_t speed) {
// Speed deciphering for the two control modes // Speed deciphering for the two control modes
if( speed >= 1000 && speed < 1500 ) { 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 ) { } 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 ) { } else if( speed > 0 && speed <= 255 ) {
run( DW_FORWARD, in1, in2, speed ); run( DW_FORWARD, speed );
} else if( speed < 0 && speed >= -255 ) { } else if( speed < 0 && speed >= -255 ) {
run( DW_REVERSE, in1, in2, abs(speed) ); run( DW_REVERSE, abs(speed) );
} else if( speed == 0 || speed == 1500 ) { } 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 ); 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 // get the mode
if( DWC->getMode() == DW_PHASE ) { if( DWC->getMode() == DW_PHASE ) {
if( control == DW_FORWARD ) { if( control == DW_FORWARD ) {