Mouse code for the MacroRat
motor.h
- Committer:
- christine222
- Date:
- 2017-05-13
- Revision:
- 13:2032db00f168
- Parent:
- 12:5790e56a056f
- Child:
- 15:b80555a4a8b9
File content as of revision 13:2032db00f168:
#ifndef MOTOR_H #define MOTOR_H #include "mbed.h" //#include "main.h" #define BRAKE_VOLTAGE 0.2 /* extern PwmOut left1; extern PwmOut left2; extern PwmOut right1; extern PwmOut right2; extern DigitalOut enableLeftMotor; extern DigitalOut enableRightMotor; */ class Motor { public: Motor( PinName f, PinName b, PinName e ) : forw( f ), back( b ), enableMotor( e ), maxSpeed( 0.2 ), minSpeed(0.07) { enableMotor.write( 1 ); } void backward( double voltage ); void forward( double voltage ); void brake(); void coast(); void move( double voltage ); private: PwmOut forw; PwmOut back; DigitalOut enableMotor; const double maxSpeed; const double minSpeed; }; //QEI leftWheel( /* inline void enableMotors(){ enableLeftMotor.write(1); enableRightMotor.write(1); }*/ #endif