drivemotor.c

为参加日本的ET机器人比赛写的LEGO机器人控制程序

/******************************************************************************\
*
* File:          DriveMotor.C
* Creation date: June 23, 2008 10:30
* Latest update: July 09, 2008 16:39
* Author:        ClassBuilder
*                XXXX
* Purpose:       Method implementations of class 'DriveMotor'
* CB version:    ClassBuilder Version 2.9 (PR523)
*
* Modifications: @INSERT_MODIFICATIONS(* )
* July 05, 2008 21:07 Chijinliang
*     Deleted method 'Start'
* July 05, 2008 21:03 Chijinliang
*     Updated code of method 'DriveMotor'
* July 05, 2008 20:28 Chijinliang
*     Added method 'GetSpeed'
*     Updated interface of method 'SetSpeed'
*     Updated member 'm_speed'
* June 25, 2008 19:10 Chijinliang
*     Updated code of method 'Reverse'
* June 24, 2008 19:59 Chijinliang
*     Updated code of method 'Stop'
*     Updated code of method 'Start'
* June 23, 2008 14:03 Chijinliang
*     Updated code of method 'GetVehicleSpeed'
*     Updated interface of method 'SetVehicleSpeed'
*     Updated code of method 'DriveMotor'
*     Updated member 'm_vehicleSpeed'
* June 23, 2008 13:42 Chijinliang
*     Deleted inheritance 'Motor'
*     Added method 'Reverse'
*     Added method 'Forward'
*     Added method 'Brake'
*     Updated code of method 'SetVehicleSpeed'
*     Updated code of method 'Stop'
*     Updated code of method 'Start'
*     Updated code of method '~DriveMotor'
*     Updated code of method 'DriveMotor'
* June 23, 2008 10:30 Chijinliang
*     Added method 'DestructorInclude'
*     Added method 'ConstructorInclude'
*     Added method 'GetVehicleSpeed'
*     Added method 'SetVehicleSpeed'
*     Added method 'Stop'
*     Added method 'Start'
*     Added method '~DriveMotor'
*     Added method 'DriveMotor'
*     Added inheritance 'Motor'
*     Added member 'm_vehicleSpeed'
*
* Copyright 2008, XXXXX
* All rights are reserved. Reproduction in whole or part is prohibited
* without the written consent of the copyright owner.
*
\******************************************************************************/
// Master include file
#include "JASTInTime.h"


using namespace JASTInTime;




/*
Constructor method.
*/
DriveMotor::DriveMotor()
{
    ConstructorInclude();

    m_speed = 0;
}


/*
Destructor method.
*/
DriveMotor::~DriveMotor()
{
    Stop();

    DestructorInclude();
}


const void DriveMotor::Brake() const
{
    motor_a_dir(brake);
}


const void DriveMotor::Forward() const
{
    motor_a_dir(fwd);
}


const void DriveMotor::Reverse() const
{
    motor_a_dir(rev);
}


const void DriveMotor::Stop() const
{
    motor_a_dir(::off);
}


/*
Method which must be called first in a constructor.
*/
void DriveMotor::ConstructorInclude()
{
}


/*
Method which must be called first in a destructor.
*/
void DriveMotor::DestructorInclude()
{
}


// Methods for the relation(s) of the class