Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

Committer:
kyleliangus
Date:
Sun May 14 04:45:21 2017 +0000
Revision:
15:b80555a4a8b9
Parent:
13:2032db00f168
Created PID for encoder based on difference of speed rotations.

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