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55 lines
1.0 KiB
55 lines
1.0 KiB
5 years ago
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#ifndef _TANKDRIVE_H // not #ifnotdef
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#define _TANKDRIVE_H
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#include "Motorz.h"
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class TankDrive
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{
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Motorz *motorL;
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Motorz *motorR;
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int forwardR,forwardL,backR,backL;
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public:
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TankDrive(Motorz *MR,int fr,Motorz *ML,int fl){
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motorL=ML;
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motorR=MR;
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forwardR=fr;
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forwardL=fl;
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if(fr==1)backR=0;
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else backR=1;
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if(fl==1)backL=0;
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else backL=1;
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}
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void MoveForward(){
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motorR->SetDirection(forwardR);
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motorL->SetDirection(forwardL);
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motorR->Start();
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motorL->Start();
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}
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void MoveBack(){
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motorR->SetDirection(backR);
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motorL->SetDirection(backL);
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motorR->Start();
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motorL->Start();
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}
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void Stop(){
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motorL->Stop();
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motorR->Stop();
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}
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void TurnRight(){
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motorR->SetDirection(backR);
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motorL->SetDirection(forwardL);
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motorR->Start();
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motorL->Start();
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}
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void Turnleft(){
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motorR->SetDirection(forwardR);
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motorL->SetDirection(backL);
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motorL->Start();
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motorR->Start();
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}
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};
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#endif _TANKDRIVE_H
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