private bool direction; //false = forwards, true = backwards.
public void SetMotorSpeedAndDirection(HBridgePin.PinType pinType, int value)
{
//Use pin to figure out if the right direction is forwards or backwards:
CalculateDirection(pinType, value);
//Pass on analog value to motor:
motor.SetSpeed(totalSpeed);
motor.SetDirection(direction);
}
private void CalculateDirection(HBridgePin.PinType pinType, int value)
{
switch (pinType)
{
case HBridgePin.PinType.DriveBackward:
speedBackwards = value;
break;
case HBridgePin.PinType.DriveForward:
speedForwards = value;
break;
}
int diff = speedForwards - speedBackwards;
totalSpeed = Math.Abs(diff);
//Drive forwards(false), when speedForwards>speedBackwards and vice-versa. In the case of 0, the totalSpeed will be 0 anyway.
direction = Math.Sign(diff) == 1 ? false : true;
}
