Servo func clean up, drive lib

[rover] / libraries / rover / rover.cpp

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index b02e8cbbbe95231e00b7ad6c35423efe5b3e8533..58bbf2cbb082a1f3e2b2c685f8ff1e675df8e311 100644 (file)
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -120,8 +120,37 @@ void stopB() {
     digitalWrite(enB,LOW);
 }
 
+
+// Entrambi i motori
+void avanti() {
+    // Drive ahead: funzione composita
+    forwardA() ;
+    forwardB() ;
+}
+void indietro() {
+    // Drive backward: funzione composita
+    backwardA();
+    backwardB();
+}
+void giraSX() {
+    // Gira a DX
+    forwardB() ;
+    backwardA();
+}
+void giraDX()  {
+    // Gira a DX
+    forwardA() ;
+    backwardB();
+}
+void stop()  {
+    stopA();
+    stopB();
+}
+
+
+
 // Servo
-void turnDX() {
+void servoDX() {
     // TurnDX
     while (pos < dx) {
         myservo.write(pos++);
@@ -129,7 +158,7 @@ void turnDX() {
     }
 }
 
-void turnSX() {
+void servoSX() {
     // TurnSX
     while (pos > sx) {
         myservo.write(pos--);
@@ -137,7 +166,7 @@ void turnSX() {
     }
 }
 
-void turnMiddle() {
+void servoMiddle() {
     // Middle
     while (pos > middle) {
         myservo.write(pos--);