MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

motor.h@13:2032db00f168, 2017-05-13 (annotated)

Committer:
christine222
Date:
Sat May 13 02:40:49 2017 +0000
Revision:
13:2032db00f168
Parent:
12:5790e56a056f
Child:
15:b80555a4a8b9
turning sort of works

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 ) :
christine222 13:2032db00f168 22 forw( f ), back( b ), enableMotor( e ), maxSpeed( 0.2 ), minSpeed(0.07)
kyleliangus 8:a0760acdc59e 23 {
kyleliangus 8:a0760acdc59e 24 enableMotor.write( 1 );
kyleliangus 8:a0760acdc59e 25 }
kyleliangus 8:a0760acdc59e 26
kyleliangus 8:a0760acdc59e 27 void backward( double voltage );
kyleliangus 8:a0760acdc59e 28 void forward( double voltage );
kyleliangus 8:a0760acdc59e 29 void brake();
kyleliangus 8:a0760acdc59e 30 void coast();
kyleliangus 12:5790e56a056f 31 void move( double voltage );
kyleliangus 8:a0760acdc59e 32
kyleliangus 8:a0760acdc59e 33 private:
kyleliangus 8:a0760acdc59e 34 PwmOut forw;
kyleliangus 8:a0760acdc59e 35 PwmOut back;
kyleliangus 8:a0760acdc59e 36 DigitalOut enableMotor;
kyleliangus 12:5790e56a056f 37 const double maxSpeed;
christine222 13:2032db00f168 38 const double minSpeed;
kyleliangus 8:a0760acdc59e 39 };
sahilmgandhi 7:6f5cb6377bd4 40
sahilmgandhi 7:6f5cb6377bd4 41 //QEI leftWheel(
sahilmgandhi 7:6f5cb6377bd4 42
kyleliangus 8:a0760acdc59e 43 /*
sahilmgandhi 7:6f5cb6377bd4 44 inline void enableMotors(){
sahilmgandhi 7:6f5cb6377bd4 45 enableLeftMotor.write(1);
sahilmgandhi 7:6f5cb6377bd4 46 enableRightMotor.write(1);
kyleliangus 8:a0760acdc59e 47 }*/
kyleliangus 4:b5b7836ca2b0 48
kyleliangus 4:b5b7836ca2b0 49
kyleliangus 4:b5b7836ca2b0 50 #endif