Psi Swarm Robot
Practical Robotics Modular Robot Library
Diff: motors.h
- Revision:
- 0:8a2dd255c508
- Child:
- 1:a6728adaf7e7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h Sat Nov 26 17:28:53 2016 +0000
@@ -0,0 +1,31 @@
+#ifndef MOTORS_H
+#define MOTORS_H
+
+class Motors
+{
+public:
+ /**
+ * Setup the PWM based H-Bridge drivers for the motors
+ */
+ void init(void);
+
+
+
+ void sleep(void);
+ void wake_up(void);
+ void coast_left(void);
+ void brake_left(void);
+ void set_left_motor_speed(float speed);
+ void coast_right(void);
+ void brake_right(void);
+ void coast(void);
+ void brake(void);
+ void set_right_motor_speed(float speed);
+ float get_current_left(void);
+ float get_current_right(void);
+ float get_adjusted_speed(float speed_in);
+
+
+};
+
+#endif
\ No newline at end of file