with the tof code
Dependencies: mbed Servo ros_lib_kinetic
Motors/Motor.cpp
- Committer:
- Stumi
- Date:
- 2019-10-24
- Revision:
- 2:6197e1cf2cd1
- Child:
- 3:df6160e2f6d9
File content as of revision 2:6197e1cf2cd1:
/*-------------------------------------------------------------------------------- Filename: main.cpp Description: Main program loop --------------------------------------------------------------------------------*/ #include "Motor.h" /*-------------------------------------------------------------------------------- Function name: cMotor Input Parameters: PwmOut pwm - Motor PWM, DigitalOut fwd - Motor input1, DigitalOut rev - Motor Input2 Output Parameters: N/A Description: Class constructor (Initialisation upon creating class) ----------------------------------------------------------------------------------*/ cMotor::cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev):_pwm(pwm), _fwd(fwd), _rev(rev){ // Set initial condition of PWM _pwm.period(0.001); //1KHz _pwm = 0; // Initial condition of output enables _fwd = 0; _rev = 0; } /*-------------------------------------------------------------------------------- Function name: Forwards Input Parameters: float speed - PWM duty between 0-1 Output Parameters: N/A Description: Drives the motor forwards at a designated speed ----------------------------------------------------------------------------------*/ void cMotor::Forwards(float speed){ _fwd = 1; _rev = 0; _pwm = speed; } /*-------------------------------------------------------------------------------- Function name: Backwards Input Parameters: float speed - PWM duty between 0-1 Output Parameters: N/A Description: Drives the motor backwards at a designated speed ----------------------------------------------------------------------------------*/ void cMotor::Backwards(float speed){ _fwd = 0; _rev = 1; _pwm = speed; }