SOFT564Z Group 3 / Mbed 2 deprecated SOFT564Z_Group_3v3

with the tof code

Dependencies:   mbed Servo ros_lib_kinetic

Motors/Motor.h@4:36a04230554d, 2019-11-07 (annotated)

Committer:
Stumi
Date:
Thu Nov 07 15:31:52 2019 +0000
Revision:
4:36a04230554d
Parent:
3:df6160e2f6d9
Child:
6:2cc2aac35868
Added power management class and obstacle avoidance

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stumi 2:6197e1cf2cd1 1 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 2 Filename: TOF.h
Stumi 2:6197e1cf2cd1 3 Description: Header file for adafruit VL_6180X TOF sensor
Stumi 2:6197e1cf2cd1 4 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 5 #ifndef MOTOR_H
Stumi 2:6197e1cf2cd1 6 #define MOTOR_H
Stumi 2:6197e1cf2cd1 7
Stumi 2:6197e1cf2cd1 8 #include "mbed.h"
Stumi 2:6197e1cf2cd1 9
Stumi 2:6197e1cf2cd1 10 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 11 ---------------------------------DEFINES------------------------------------------
Stumi 2:6197e1cf2cd1 12 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 13
Stumi 2:6197e1cf2cd1 14 //MOTOR 1
Stumi 2:6197e1cf2cd1 15 #define M1_IN1 PC_6
Stumi 2:6197e1cf2cd1 16 #define M1_IN2 PB_15
Stumi 2:6197e1cf2cd1 17 #define M1_PWM PB_13
Stumi 2:6197e1cf2cd1 18 #define M1_A PA_4
Stumi 2:6197e1cf2cd1 19 #define M1_B PB_12
Stumi 2:6197e1cf2cd1 20
Stumi 2:6197e1cf2cd1 21 //MOTOR 2
Stumi 2:6197e1cf2cd1 22 #define M2_IN1 PA_15
Stumi 2:6197e1cf2cd1 23 #define M2_IN2 PC_7
Stumi 2:6197e1cf2cd1 24 #define M2_PWM PB_4
Stumi 2:6197e1cf2cd1 25 #define M2_A PB_5
Stumi 2:6197e1cf2cd1 26 #define M2_B PB_3
Stumi 2:6197e1cf2cd1 27
Stumi 2:6197e1cf2cd1 28 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 29 ---------------------------------CLASSES------------------------------------------
Stumi 2:6197e1cf2cd1 30 --------------------------------------------------------------------------------*/
Stumi 2:6197e1cf2cd1 31
Stumi 2:6197e1cf2cd1 32 // Class for managing connection and state to a VL6180X sensor
Stumi 2:6197e1cf2cd1 33
Stumi 2:6197e1cf2cd1 34 class cMotor
Stumi 2:6197e1cf2cd1 35 {
Stumi 2:6197e1cf2cd1 36 public:
Stumi 2:6197e1cf2cd1 37 cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev); //Constructor, initialised motor pinouts
Stumi 2:6197e1cf2cd1 38 void Forwards(float speed);
Stumi 2:6197e1cf2cd1 39 void Backwards(float speed);
Stumi 3:df6160e2f6d9 40 void Stop();
Stumi 2:6197e1cf2cd1 41 private:
Stumi 2:6197e1cf2cd1 42 PwmOut _pwm;
Stumi 2:6197e1cf2cd1 43 DigitalOut _fwd;
Stumi 2:6197e1cf2cd1 44 DigitalOut _rev;
Stumi 2:6197e1cf2cd1 45
Stumi 2:6197e1cf2cd1 46 };
Stumi 2:6197e1cf2cd1 47
Stumi 2:6197e1cf2cd1 48 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 49 -----------------------------------Functions---------------------------------------
Stumi 2:6197e1cf2cd1 50 --------------------------------------------------------------------------------*/
Stumi 4:36a04230554d 51 void Check_for_obstacles(uint8_t TOFRange[4]); //Obstacle avoidance functionality
Stumi 2:6197e1cf2cd1 52
Stumi 2:6197e1cf2cd1 53 /*--------------------------------------------------------------------------------
Stumi 2:6197e1cf2cd1 54 --------------------------------External Variables--------------------------------
Stumi 2:6197e1cf2cd1 55 --------------------------------------------------------------------------------*/
Stumi 4:36a04230554d 56 //extern cMotor MotorL; //Left motor class and pin initialisation
Stumi 4:36a04230554d 57 //extern cMotor MotorR; //Right motor class and pin initialisation
Stumi 2:6197e1cf2cd1 58
Stumi 2:6197e1cf2cd1 59 #endif