MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

motor.h@37:3dcc95e9321c, 2017-05-27 (annotated)

Committer:
sahilmgandhi
Date:
Sat May 27 03:37:24 2017 +0000
Revision:
37:3dcc95e9321c
Parent:
15:b80555a4a8b9 
Need to get centered more before turns (so after moving forward). Also fix when both walls are missing!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyleliangus 4:b5b7836ca2b0 1 #ifndef MOTOR_H
kyleliangus 4:b5b7836ca2b0 2 #define MOTOR_H
kyleliangus 4:b5b7836ca2b0 3
kyleliangus 4:b5b7836ca2b0 4 #include "mbed.h"
kyleliangus 8:a0760acdc59e 5 //#include "main.h"
sahilmgandhi 7:6f5cb6377bd4 6
kyleliangus 4:b5b7836ca2b0 7 #define BRAKE_VOLTAGE 0.2
kyleliangus 4:b5b7836ca2b0 8
kyleliangus 8:a0760acdc59e 9 /*
kyleliangus 4:b5b7836ca2b0 10 extern PwmOut left1;
kyleliangus 4:b5b7836ca2b0 11 extern PwmOut left2;
kyleliangus 4:b5b7836ca2b0 12 extern PwmOut right1;
kyleliangus 4:b5b7836ca2b0 13 extern PwmOut right2;
kyleliangus 4:b5b7836ca2b0 14
sahilmgandhi 7:6f5cb6377bd4 15 extern DigitalOut enableLeftMotor;
kyleliangus 8:a0760acdc59e 16 extern DigitalOut enableRightMotor; */
kyleliangus 8:a0760acdc59e 17
kyleliangus 8:a0760acdc59e 18 class Motor
kyleliangus 8:a0760acdc59e 19 {
kyleliangus 8:a0760acdc59e 20 public:
kyleliangus 8:a0760acdc59e 21 Motor( PinName f, PinName b, PinName e ) :
kyleliangus 15:b80555a4a8b9 22 enableForw( f ), enableBack( b ), motorSpeed( e ), maxSpeed( 0.2 ), minSpeed(0.07)
kyleliangus 8:a0760acdc59e 23 {
kyleliangus 8:a0760acdc59e 24 }
kyleliangus 8:a0760acdc59e 25
kyleliangus 8:a0760acdc59e 26 void backward( double voltage );
kyleliangus 8:a0760acdc59e 27 void forward( double voltage );
kyleliangus 8:a0760acdc59e 28 void brake();
kyleliangus 8:a0760acdc59e 29 void coast();
kyleliangus 12:5790e56a056f 30 void move( double voltage );
kyleliangus 8:a0760acdc59e 31
kyleliangus 8:a0760acdc59e 32 private:
kyleliangus 15:b80555a4a8b9 33 DigitalOut enableForw;
kyleliangus 15:b80555a4a8b9 34 DigitalOut enableBack;
kyleliangus 15:b80555a4a8b9 35 PwmOut motorSpeed;
kyleliangus 12:5790e56a056f 36 const double maxSpeed;
christine222 13:2032db00f168 37 const double minSpeed;
kyleliangus 8:a0760acdc59e 38 };
sahilmgandhi 7:6f5cb6377bd4 39
sahilmgandhi 7:6f5cb6377bd4 40 //QEI leftWheel(
sahilmgandhi 7:6f5cb6377bd4 41
kyleliangus 8:a0760acdc59e 42 /*
sahilmgandhi 7:6f5cb6377bd4 43 inline void enableMotors(){
sahilmgandhi 7:6f5cb6377bd4 44 enableLeftMotor.write(1);
sahilmgandhi 7:6f5cb6377bd4 45 enableRightMotor.write(1);
kyleliangus 8:a0760acdc59e 46 }*/
kyleliangus 4:b5b7836ca2b0 47
kyleliangus 4:b5b7836ca2b0 48
kyleliangus 4:b5b7836ca2b0 49 #endif