Mousr.h

00001 #pragma once
00002 #include "mbed.h"
00003 class Mousr
00004 {
00005     public:
00006         Mousr();
00007         void stop();
00008         void lefttire(float speed);
00009         void righttire(float speed);
00010         void left(float speed);
00011         void right(float speed);
00012         float getRotateSlowSpeed();
00013         float getRotateSpeed();
00014         float getRotateFastSpeed();
00015         void left90();
00016         void left180();
00017         void right90();
00018         void right180();
00019     
00020     private:
00021         DigitalOut mstby;
00022         PwmOut m_a1;
00023         PwmOut m_a2;
00024         PwmOut mpwma;
00025         PwmOut m_b1;
00026         PwmOut m_b2;
00027         PwmOut mpwmb;
00028     
00029 
00030         float rotateSlowSpeed;
00031         float rotateSpeed;
00032         float rotateFastSpeed;
00033         float flipRotateWait;
00034         float flip90Wait;
00035         float flip180Wait;
00036 };
00037