MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

motor.h@12:5790e56a056f, 2017-05-12 (annotated)

Committer:
kyleliangus
Date:
Fri May 12 23:25:07 2017 +0000
Revision:
12:5790e56a056f
Parent:
8:a0760acdc59e
Child:
13:2032db00f168
Right Turn is wrong, need fix

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 12:5790e56a056f 22 forw( f ), back( b ), enableMotor( e ), maxSpeed( 0.5 )
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;
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