with the tof code
Dependencies: mbed Servo ros_lib_kinetic
Motors/Motor.h
- Committer:
- Stumi
- Date:
- 2019-11-19
- Revision:
- 7:8248af58df5a
- Parent:
- 6:2cc2aac35868
- Child:
- 8:262c6c40bff9
File content as of revision 7:8248af58df5a:
/*-------------------------------------------------------------------------------- Filename: TOF.h Description: Header file for adafruit VL_6180X TOF sensor --------------------------------------------------------------------------------*/ #ifndef MOTOR_H #define MOTOR_H #include "mbed.h" #include "Buzzer.h" /*-------------------------------------------------------------------------------- ---------------------------------DEFINES------------------------------------------ --------------------------------------------------------------------------------*/ //MOTOR 1 #define M1_IN1 PC_6 #define M1_IN2 PB_15 #define M1_PWM PB_13 #define M1_A PA_4 #define M1_B PB_12 //MOTOR 2 #define M2_IN1 PA_15 #define M2_IN2 PC_7 #define M2_PWM PB_4 #define M2_A PB_5 #define M2_B PB_3 /*-------------------------------------------------------------------------------- ---------------------------------CLASSES------------------------------------------ --------------------------------------------------------------------------------*/ // Class for managing connection and state to a VL6180X sensor class cMotor { public: cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev); //Constructor, initialised motor pinouts void Forwards(float speed); //Drives motor forwards void Backwards(float speed);//Drives motor backwards void Stop(); //Stops both motors private: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; }; /*-------------------------------------------------------------------------------- -----------------------------------Functions--------------------------------------- --------------------------------------------------------------------------------*/ 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 /*-------------------------------------------------------------------------------- --------------------------------External Variables-------------------------------- --------------------------------------------------------------------------------*/ //extern cMotor MotorL; //Left motor class and pin initialisation //extern cMotor MotorR; //Right motor class and pin initialisation #endif