Updated version of RenBuggy Servo that can accept instructions based on time or distance.
Fork of RenBuggyServo by
Car.h
- Committer:
- Markatron
- Date:
- 2014-03-07
- Revision:
- 0:d388aed56112
- Child:
- 1:3e1290de9c8d
File content as of revision 0:d388aed56112:
/******************************************************************************* * RenBED Car used to drive RenBuggy with servo and 1 motor * * Copyright (c) 2014 Mark Jones * * * * Permission is hereby granted, free of charge, to any person obtaining a copy * * of this software and associated documentation files (the "Software"), to deal* * in the Software without restriction, including without limitation the rights * * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * * copies of the Software, and to permit persons to whom the Software is * * furnished to do so, subject to the following conditions: * * * * The above copyright notice and this permission notice shall be included in * * all copies or substantial portions of the Software. * * * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * * THE SOFTWARE. * * * * Car.h * * * * V1. 05/03/2014 Mark Jones * *******************************************************************************/ #ifndef CAR_H #define CAR_H #include "mbed.h" class Car { private: PwmOut m_servo; PwmOut m_motor; int m_pwmPeriod; // Period used in PWM. int m_servoRange; // Pulsewidth range to full left/right from centre (1.5ms) float m_servoDegrees; // Angle to full right/left turn from centre (0). float distanceToTimeConverter(float distance); public: Car(PinName servoPin, PinName motorPin); ~Car(); void forwards(float distance); void forwards(int speed); void forwards(); void stop(); void setDirection(int degrees); void configureServo_us(int pulsewidth_us, int period_us, int range, float degrees); void configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees); void configureMotor_us(int pulsewidth_us, int period_us); void configureMotor_ms(int pulsewidth_ms, int period_ms); }; #endif // CAR_H