Revision ed37d345

View differences:

scout/motors/src/motors.cpp
54 54
 *
55 55
 * @param filename The name of the PWM device file
56 56
 */
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Motor::Motor(const char* pwmfile, const char* in1file, const char* in2file)
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  : fpwm(pwmfile), fin1(in1file), fin2(in2file)
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Motor::Motor(int pwm_gpt, int in1_gpio, int in2_gpio)
59 58
{
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  char buf[60];
60 60
  int pwm, in1, in2;
61 61

  
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  // open device files
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  sprintf(buf, "/dev/pwm%d", pwm_gpt);
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  fpwm.open(buf);
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  sprintf(buf, "/sys/class/gpio/gpio%d/value", in1_gpio);
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  fin1.open(buf);
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  sprintf(buf, "/sys/class/gpio/gpio%d/value", in2_gpio);
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  fin2.open(buf);
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62 70
  // read current values from device files
63 71
  fpwm >> pwm;
64 72
  fin1 >> in1;
......
148 156
  fin2 << in2;
149 157
}
150 158

  
151
/// @todo change these to the correct files
152
/// @todo also, a problem: gpio can only be done as root!
159
/// @todo change these to the correct motor locations
153 160
// Motor state variables
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static Motor motor_fl("/dev/pwm8", "/dev/null", "/dev/null");
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static Motor motor_fr("/dev/pwm9", "/dev/null", "/dev/null");
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static Motor motor_bl("/dev/pwm10", "/dev/null", "/dev/null");
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static Motor motor_br("/dev/pwm11", "/dev/null", "/dev/null");
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static Motor motor_fl( 8, 70, 71);
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static Motor motor_fr( 9, 72, 73);
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static Motor motor_bl(11, 74, 75);
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static Motor motor_br(10, 76, 77);
158 165

  
159 166
/**
160 167
 * @brief Sets motor speed
scout/motors/src/motors.h
58 58
class Motor
59 59
{
60 60
  public:
61
    Motor(const char* pwmfile, const char* in1file, const char* in2file);
61
    Motor(int pwm_gpt, int in1_gpio, int in2_gpio);
62 62
    int get_speed();
63 63
    void set_speed(int speed);
64 64
  private:

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