File content as of revision 0:f45212966fb1:

class Wheel {
    private:
    float angularVelocity; //angular speed of the wheel
    float linearVelocity;
    PwmOut Mtr; //connect this pin to the motor driveboard pwm
    DigitalOut direction; //connected to the direction pin of motor drive board
    float static const wheelDiameter = 0.18;
    Encoder* enc;
    float const static MAV = 510;
    
    public:
    Wheel (Encoder* E, PinName M, PinName C) : Mtr(M), direction(C) {
        enc = E;
        Mtr.write(1.0f); //duty cycle of 100%
        Mtr.period_us(100000); //frequency of 1KHz determine this constant value based on switching losses+frequency losses
        //higher freq -> more switching losses lower freq -> more "capacitive losses" need to find a balance
        direction = 0;
        Mtr.write(0.1f); //duty cycle of 0.1 -> turn it off
        }
        
    
    float calculateAngularVelocity(){ //returns a float value which is the angular velocity of the WHEEL
        angularVelocity = ((enc->encoderTickRate())/512)*2*3.141593f;
        return ((enc->encoderTickRate())/512)*2*3.141593f;
        };
    
    void setDutyCycle(float f)
    {
        if (f > 1.0f)
        {
        Mtr.write(1);
        }
        else if (f < 0.0f)
        {
         Mtr.write (0);   
        }else
        {
         Mtr.write(f);
        }
    };
        
    void setFrequency(int freq){
        Mtr.period(1/freq);
        };
        
    void adjustAngularVelocity(float W) // W = angular velocity you want, obviously putting a |w| value that is > max angular velocity will set dutcy cycle to 1
    {
        if (abs(W) >= MAV)
        {
            Mtr.write(1);
        }else 
            {
            Mtr.write(abs(W)/MAV); //assuming linear relationship between dutcy cycle and speed.
            }
        if (W<0) 
        { 
        direction = 0; 
        } else  { 
        direction = 1; 
                }
    };
    
    };