Mouse code for the MacroRat
motor.h@8:a0760acdc59e, 2017-05-05 (annotated)
- Committer:
- kyleliangus
- Date:
- Fri May 05 01:21:33 2017 +0000
- Revision:
- 8:a0760acdc59e
- Parent:
- 7:6f5cb6377bd4
- Child:
- 12:5790e56a056f
Created Motor class
Who changed what in which revision?
User | Revision | Line number | New 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 | 8:a0760acdc59e | 22 | forw( f ), back( b ), enableMotor( e ) |
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 | 8:a0760acdc59e | 31 | |
kyleliangus | 8:a0760acdc59e | 32 | private: |
kyleliangus | 8:a0760acdc59e | 33 | PwmOut forw; |
kyleliangus | 8:a0760acdc59e | 34 | PwmOut back; |
kyleliangus | 8:a0760acdc59e | 35 | DigitalOut enableMotor; |
kyleliangus | 8:a0760acdc59e | 36 | }; |
sahilmgandhi | 7:6f5cb6377bd4 | 37 | |
sahilmgandhi | 7:6f5cb6377bd4 | 38 | //QEI leftWheel( |
sahilmgandhi | 7:6f5cb6377bd4 | 39 | |
kyleliangus | 8:a0760acdc59e | 40 | /* |
sahilmgandhi | 7:6f5cb6377bd4 | 41 | inline void enableMotors(){ |
sahilmgandhi | 7:6f5cb6377bd4 | 42 | enableLeftMotor.write(1); |
sahilmgandhi | 7:6f5cb6377bd4 | 43 | enableRightMotor.write(1); |
kyleliangus | 8:a0760acdc59e | 44 | }*/ |
kyleliangus | 4:b5b7836ca2b0 | 45 | |
kyleliangus | 4:b5b7836ca2b0 | 46 | |
kyleliangus | 4:b5b7836ca2b0 | 47 | #endif |