DCS_TEAM / Mbed 2 deprecated Chemical_Sensor_DMA

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Dependencies:   mbed

Dependents:   DCS_FINAL_CODE

Fork of Chemical_Sensor_DMA by Jared Baxter

MotorControl.h@5:1b2dc43e8947, 2015-11-06 (annotated)

Committer:
baxterja
Date:
Fri Nov 06 19:28:49 2015 +0000
Revision:
5:1b2dc43e8947
Parent:
2:3771b3195c7b 
Dewayne,  Use this one

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baxterja 2:3771b3195c7b 1 #ifndef MOTOR_CONTROL_H
baxterja 2:3771b3195c7b 2 #define MOTOR_CONTROL_H
baxterja 2:3771b3195c7b 3
baxterja 2:3771b3195c7b 4 #include "mbed.h"
baxterja 2:3771b3195c7b 5 #include "pause.cpp"
baxterja 2:3771b3195c7b 6
baxterja 2:3771b3195c7b 7 class MotorControl {
baxterja 2:3771b3195c7b 8 public:
baxterja 2:3771b3195c7b 9 MotorControl(PinName cw, PinName ccw, int period, int safetyPeriod);
baxterja 2:3771b3195c7b 10
baxterja 2:3771b3195c7b 11 void off(); // make sure the motor is off
baxterja 2:3771b3195c7b 12 void clockwise(float);
baxterja 2:3771b3195c7b 13 void releaseMallet(); // release mallet using hard coded timing
baxterja 2:3771b3195c7b 14 void reset(); // reset mallet using feedback (NEEDS TO BE IMPLEMENTED)
baxterja 2:3771b3195c7b 15
baxterja 2:3771b3195c7b 16 // what we threw together just for testing
baxterja 2:3771b3195c7b 17 void hardReset(int); // reset mallet using hard coded timing
baxterja 2:3771b3195c7b 18
baxterja 2:3771b3195c7b 19 private:
baxterja 2:3771b3195c7b 20 PwmOut _cw; // clock wise rotation when _cw = 1
baxterja 2:3771b3195c7b 21 PwmOut _ccw; // counter-clock wise rotation when _ccw = 1
baxterja 2:3771b3195c7b 22 int _period; // the period of the motor switching cycle
baxterja 2:3771b3195c7b 23 int _safetyPeriod; // dead time between transition from cw to ccw (and visa versa)
baxterja 2:3771b3195c7b 24 };
baxterja 2:3771b3195c7b 25
baxterja 2:3771b3195c7b 26 #endif