Diff: DC_Motor_Controller.h

Revision:

10:fe56f6800a72

Parent:

9:49b59b308767

Child:

13:675456f1f401

--- a/DC_Motor_Controller.h	Tue May 25 06:17:55 2021 +0000
+++ b/DC_Motor_Controller.h	Tue May 25 07:24:10 2021 +0000
@@ -8,17 +8,15 @@
 class DC_Motor_Controller {
 
     private:
-        DigitalOut out1, out2; 
+        PwmOut out1, out2; 
         QEI dc_motor;
-    
+        void goto_pulse(int tar_pulse, float speed = 1);
     public:
-        DC_Motor_Controller(PinName out_M1, PinName out_M2, PinName in_A,  PinName in_B, int PPR) : 
-            out1(out_M1), out2(out_M2), dc_motor(in_A, in_B, NC, PPR){}
-        
-        void goto_angle(int angle);
+        DC_Motor_Controller(PinName out_M1, PinName out_M2, PinName in_A, PinName in_B, int PPR);        
+        void goto_angle(int angle, float speed = 1);
         void reset();
-        void move_angle(int angle);
-        void set_out(int a, int b);
+        void move_angle(int angle, float speed = 1);
+        void set_out(float a, float b);
         int get_pulse();
 };
 #endif
\ No newline at end of file