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motor.h
00001 #pragma once 00002 #include "mbed.h" 00003 00004 class motor 00005 { 00006 private: 00007 uint8_t number; 00008 I2C *i2c; 00009 long map(long x, long in_min, long in_max, long out_min, long out_max); 00010 int H_B; 00011 bool inited; 00012 public: 00013 motor() { 00014 H_B = 0; 00015 number = 0x00; 00016 inited = false; 00017 speed = 0; 00018 direction = 1; 00019 cwMax = 255; 00020 ccwMax = 255; 00021 cwMin = 0; 00022 ccwMin = 0; 00023 } 00024 int write(int spd); 00025 uint8_t make(int spd); 00026 uint8_t init(uint8_t t, I2C *i); 00027 void brake(bool b) { 00028 H_B = b; 00029 } 00030 uint8_t address() { 00031 return number; 00032 } 00033 uint8_t cwMax, ccwMax, cwMin, ccwMin; 00034 uint8_t speed; 00035 bool direction; 00036 };
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