str/ev3-api/library/libcpp-ev3/src/Motor.cpp

//
// Motor.cpp
//
// Copyright (c) 2015-2016 Embedded Technology Software Design Robot Contest
//

#include "Motor.h"
using namespace ev3api;

//=============================================================================
// Constructor
Motor::Motor(ePortM port, bool brake, motor_type_t type)
:mPort(static_cast<motor_port_t>(port)),
 mBrake(brake),
 mType(type),
 mPWM(0),
 mOffset(0)
{
    ev3_motor_config(getPort(), type);
}

//=============================================================================
// Destructor
Motor::~Motor(void)
{
    ev3_motor_stop(mPort, true); // set brake to stop the motor immidiately
}

//=============================================================================
// set motor PWM ratio: PWM_MAX to PWM_MIN
void Motor::setPWM(int pwm)
{
    mPWM = (pwm>PWM_MAX)? PWM_MAX:((pwm<PWM_MIN)? PWM_MIN:pwm);

    if (mBrake == true && pwm == 0)
    {
        ev3_motor_stop(mPort, true);
    }
    else
    {
        ev3_motor_set_power(mPort, mPWM);
    }
}

//=============================================================================
// set brake (true:brake/false:float)
void Motor::setBrake(bool brake)
{
    mBrake = brake;
    setPWM(mPWM);
}