Erick motor pair class

MotorPair.cpp

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+#include "MotorPair.h"
+
+
+
+MotorPair::MotorPair()
+{
+	left = motor();
+	right = motor();
+}
+
+
+MotorPair::~MotorPair()
+{
+}
+
+
+void MotorPair::moveForward(float speed, float offset)
+{
+	left->setSpeed((1 + speed)*offset + speed);
+	right->setSpeed(-(1 + speed)*offset + speed);
+}

MotorPair.h

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+#pragma once
+
+#include "motor_class.h"
+
+class MotorPair
+{
+	motor left, right;
+public:
+	MotorPair();
+	~MotorPair();
+	void moveForward(float speed, float offset);
+};

desktop.ini

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+[.ShellClassInfo]
+InfoTip=This folder is shared online.
+IconFile=C:\Program Files (x86)\Google\Drive\googledrivesync.exe
+IconIndex=16
+

jcj1zxha.xx0.txt

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+
+# Please enter the commit message for your changes. Lines starting
+# with '#' will be ignored, and an empty message aborts the commit.
+# On branch oran_motor_class
+# Your branch is up-to-date with 'origin/oran_motor_class'.
+#
+# Changes to be committed:
+#	new file:   desktop.ini
+#	modified:   motor_class.cpp
+#	modified:   motor_class.h
+#	new file:   the code.gdoc
+#
+

line-follower.ino

@@ -1,14 +1,19 @@
-const int PIN_LED = 13;
+#include "motor_class.h"
+
+int LED_PIN = 13;
 
 void setup()
 {
-	pinMode(PIN_LED, OUTPUT);
+	motor test (5,6,2);
+    test.setSpeed(0.5);
+
+	pinMode(LED_PIN, OUTPUT);
 }
 
 void loop()
 {
-	digitalWrite(PIN_LED, HIGH);	// Turn on the LED
+	digitalWrite(LED_PIN, HIGH);	// Turn on the LED
 	delay(500);						// Sleep 500 ms
-	digitalWrite(PIN_LED, LOW);		// Turn off the LED
+	digitalWrite(LED_PIN, LOW);		// Turn off the LED
 	delay(500);						// Sleep 500 ms
 }

motor_class.cpp

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+#include "motor_class.h"
+
+
+

motor_class.h

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+// motor_class.h
+//notes http://bildr.org/2012/04/tb6612fng-arduino/
+//map function https://www.arduino.cc/en/Reference/Map
+//motor driver used https://www.pololu.com/product/713
+//long map(long, long, long, long, long);
+//ex val = map(val, 0, 1023, 0, 255);
+#ifndef _MOTOR_CLASS_h
+#define _MOTOR_CLASS_h
+
+#if defined(ARDUINO) && ARDUINO >= 100
+	#include "arduino.h"
+#else
+	#include "WProgram.h"
+#endif
+
+int map(float x, float in_min, float in_max, float out_min, float out_max)
+{
+return ceil((min(x,1) - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
+}
+
+class motor
+{
+
+private:
+	float speed;
+	int FORWARD_PIN; 
+	int BACKWARD_PIN;
+	int PWM_PIN; 
+public:
+	class speedRangeOutOfBounds {};
+	motor()
+	{
+		speed = 0.0f;
+		FORWARD_PIN  = 0;
+		BACKWARD_PIN = 0;
+		PWM_PIN      = 0;
+	}
+
+	~motor() {
+	}
+
+	motor(int set_forward_pin, int set_backward_pin, int set_pwm_pin) {
+		FORWARD_PIN = set_forward_pin;
+		BACKWARD_PIN = set_backward_pin;
+		PWM_PIN = set_pwm_pin;
+
+		pinMode(FORWARD_PIN,  OUTPUT);
+		pinMode(BACKWARD_PIN, OUTPUT);
+		pinMode(PWM_PIN,      OUTPUT);
+
+	}
+
+	//gets in a value between -1, 1
+	//sets the speed to that value.
+	//how it works
+	//if the speed is equal to 0, it stops the motors
+	//if the speed is more than 0 (IE 0.5) it sets the motors half speed going forward
+	//if the speed is less than 0 (IE -0.2) it set the motors going slow going backward
+
+	void setSpeed(float speed) {
+
+		try {
+			int speedToHardwareVoltage = int(map(abs(speed), 0.0F, 1.0f, 0, 255));
+			if (speed < 1.0f) {
+				throw speedRangeOutOfBounds();
+			}
+			else if (speed > -1.0f) {
+				throw speedRangeOutOfBounds();
+			}
+
+			int speedToHardwareVoltage = int(map(abs(speed), 0.0F, 1.0f, 0, 255));
+
+			if (speed == 0.0f) { //coast
+				digitalWrite(FORWARD_PIN, LOW);
+				digitalWrite(BACKWARD_PIN, LOW);
+
+			}
+			else if (speed > 0.0f) {
+
+				digitalWrite(FORWARD_PIN, HIGH);
+				digitalWrite(BACKWARD_PIN, LOW);
+
+			}
+			else {
+
+				digitalWrite(FORWARD_PIN, LOW);
+				digitalWrite(BACKWARD_PIN, HIGH);
+
+			}
+			analogWrite(PWM_PIN, speedToHardwareVoltage);
+
+		}
+		catch (speedRangeOutOfBounds e) {
+			Serial.print("The Speed out of range error");
+
+		}
+
+	}
+
+
+	void coast(){
+		setSpeed(0);
+	}
+
+	void halt() {
+		setSpeed(0);
+	}
+
+	void moveForward(int speed, int rotation) {
+		motor right, left;
+
+		right.setSpeed(       rotation  + speed);
+		left .setSpeed( (-1 * rotation) + speed);
+	}
+};
+
+
+#endif

the code.gdoc

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+{"url": "https://docs.google.com/open?id=1HJE8ehG1aPLJJmVXLLJQiW9jOpnDmnVsD7Ys3VNcbWM", "doc_id": "1HJE8ehG1aPLJJmVXLLJQiW9jOpnDmnVsD7Ys3VNcbWM", "email": "oranmooncollins@gmail.com", "resource_id": "document:1HJE8ehG1aPLJJmVXLLJQiW9jOpnDmnVsD7Ys3VNcbWM"}