chassis_objects

chassis_objects.cpp

// Class for Chassis

/* *********

usage:

chassis obj(P1_0, P1_6, P1_2, P1_1); // This creates an object for the chassis class
chassis obj(A1, A0, A2, A3);

chassis obj(P1_0, P1_6, P1_2, P1_1, 127);

obj.forward(700);

chassis.obj347(dslkfhjdslkfjs);

************/
#define FWD HIGH
#define BKW LOW
class chassis{
	public:
		// Varibles for Pins
		int pEnable1, pEnable2, pDir1, pDir2;
		int iSpeedMax;
		int a;
		//Default Constructor
		chassis(void){
			iSpeedMax=0;
			this.a=6;
		}
		// Constructor
		chassis(int a, int b, int c, int d){
			// Set the Pin Values
			this.a=a;
			pDir1=a;
			pEnable1=b;
			pEnable2=c;
			pDir2=d;
			iSpeedMax=255;
			// Inital configuration for the pins
			pinMode(pEnable1, OUTPUT);
			pinMode(pEnable2, OUTPUT);
			pinMode( pDir1, OUTPUT);
			pinMode( pDir2, OUTPUT);
			  
			digitalWrite(pDir1, FWD); // Set Inital Direction to HIGH?
			digitalWrite(pDir2, FWD);
			  
			analogWrite(pEnable1, 0x00); // Set initial speed to zero
			analogWrite(pEnable2, 0x00);
		}
		
		// Constructor
		chassis(int a, int b, int c, int d, int e){
			// Set the Pin Values
			pDir1=a;
			pEnable1=b;
			pEnable2=c;
			pDir2=d;
			iSpeedMax=e;
			// Inital configuration for the pins
			pinMode(pEnable1, OUTPUT);
			pinMode(pEnable2, OUTPUT);
			pinMode( pDir1, OUTPUT);
			pinMode( pDir2, OUTPUT);
			  
			digitalWrite(pDir1, FWD); // Set Inital Direction to HIGH?
			digitalWrite(pDir2, FWD);
			  
			analogWrite(pEnable1, 0x00); // Set initial speed to zero
			analogWrite(pEnable2, 0x00);
		}
		// Function Prototypes
		void forward(int a){
			  digitalWrite(pDir1, FWD);
			  digitalWrite(pDir2, FWD);
			  analogWrite(pEnable1, iSpeedMax);
			  analogWrite(pEnable2, iSpeedMax);
			  delay(a);
			  analogWrite(pEnable1, 0);
			  analogWrite(pEnable2, 0);
			
		}
		void backward(int a);
		void right(int a);
		void left(int a);
};

void backward::chassis (int a){
	
}