Diff: Motors/Motor.h

Revision:

9:326b8f261ef0

Parent:

8:262c6c40bff9

--- a/Motors/Motor.h	Tue Dec 10 11:52:53 2019 +0000
+++ b/Motors/Motor.h	Sat Jan 04 21:35:25 2020 +0000
@@ -8,6 +8,7 @@
 #include "mbed.h"
 #include "Buzzer.h"
 #include <ros.h>
+#include <Servo.h>
 #include <std_msgs/UInt8.h>
 
 /*--------------------------------------------------------------------------------
@@ -27,6 +28,12 @@
 #define M2_PWM  PB_4
 #define M2_A    PB_5
 #define M2_B    PB_3
+#define srvoPan PE_5
+#define srvoTilt PF_9
+
+
+static Servo servo1(srvoTilt);
+static Servo servo2(srvoPan);
 
 /*--------------------------------------------------------------------------------
 ---------------------------------CLASSES------------------------------------------
@@ -53,11 +60,17 @@
 --------------------------------------------------------------------------------*/
 void Check_for_obstacles(uint8_t TOFRange[4]); //Obstacle avoidance functionality
 void update_power_levels(float vBatt);  //Sends power level to the LED class for further processing
-void keySub(const std_msgs::UInt8 &keyPress);
+void MotorKeySub(const std_msgs::UInt8 &keyPress);
+void servoKeySub(const std_msgs::UInt8 &ServoKeyPress);
+
 /*--------------------------------------------------------------------------------
 --------------------------------External Variables--------------------------------
 --------------------------------------------------------------------------------*/
 //extern cMotor MotorL;  //Left motor class and pin initialisation
 //extern cMotor MotorR;  //Right motor class and pin initialisation
 
+
+static int IncSize; //Increment size for servo movment in increments of 1 - 20 degrees
+ 
+
 #endif
\ No newline at end of file