with the tof code
Dependencies: mbed Servo ros_lib_kinetic
Motors/Motor.h@7:8248af58df5a, 2019-11-19 (annotated)
- Committer:
- Stumi
- Date:
- Tue Nov 19 12:55:44 2019 +0000
- Revision:
- 7:8248af58df5a
- Parent:
- 6:2cc2aac35868
- Child:
- 8:262c6c40bff9
Added blue user button function and LED to show power status
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:2cc2aac35868 | 9 | #include "Buzzer.h" |
Stumi | 7:8248af58df5a | 10 | |
Stumi | 2:6197e1cf2cd1 | 11 | |
Stumi | 2:6197e1cf2cd1 | 12 | /*-------------------------------------------------------------------------------- |
Stumi | 2:6197e1cf2cd1 | 13 | ---------------------------------DEFINES------------------------------------------ |
Stumi | 2:6197e1cf2cd1 | 14 | --------------------------------------------------------------------------------*/ |
Stumi | 2:6197e1cf2cd1 | 15 | |
Stumi | 2:6197e1cf2cd1 | 16 | //MOTOR 1 |
Stumi | 2:6197e1cf2cd1 | 17 | #define M1_IN1 PC_6 |
Stumi | 2:6197e1cf2cd1 | 18 | #define M1_IN2 PB_15 |
Stumi | 2:6197e1cf2cd1 | 19 | #define M1_PWM PB_13 |
Stumi | 2:6197e1cf2cd1 | 20 | #define M1_A PA_4 |
Stumi | 2:6197e1cf2cd1 | 21 | #define M1_B PB_12 |
Stumi | 2:6197e1cf2cd1 | 22 | |
Stumi | 2:6197e1cf2cd1 | 23 | //MOTOR 2 |
Stumi | 2:6197e1cf2cd1 | 24 | #define M2_IN1 PA_15 |
Stumi | 2:6197e1cf2cd1 | 25 | #define M2_IN2 PC_7 |
Stumi | 2:6197e1cf2cd1 | 26 | #define M2_PWM PB_4 |
Stumi | 2:6197e1cf2cd1 | 27 | #define M2_A PB_5 |
Stumi | 2:6197e1cf2cd1 | 28 | #define M2_B PB_3 |
Stumi | 2:6197e1cf2cd1 | 29 | |
Stumi | 2:6197e1cf2cd1 | 30 | /*-------------------------------------------------------------------------------- |
Stumi | 2:6197e1cf2cd1 | 31 | ---------------------------------CLASSES------------------------------------------ |
Stumi | 2:6197e1cf2cd1 | 32 | --------------------------------------------------------------------------------*/ |
Stumi | 2:6197e1cf2cd1 | 33 | |
Stumi | 2:6197e1cf2cd1 | 34 | // Class for managing connection and state to a VL6180X sensor |
Stumi | 2:6197e1cf2cd1 | 35 | |
Stumi | 2:6197e1cf2cd1 | 36 | class cMotor |
Stumi | 2:6197e1cf2cd1 | 37 | { |
Stumi | 2:6197e1cf2cd1 | 38 | public: |
Stumi | 2:6197e1cf2cd1 | 39 | cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev); //Constructor, initialised motor pinouts |
Stumi | 7:8248af58df5a | 40 | void Forwards(float speed); //Drives motor forwards |
Stumi | 7:8248af58df5a | 41 | void Backwards(float speed);//Drives motor backwards |
Stumi | 7:8248af58df5a | 42 | void Stop(); //Stops both motors |
Stumi | 2:6197e1cf2cd1 | 43 | private: |
Stumi | 2:6197e1cf2cd1 | 44 | PwmOut _pwm; |
Stumi | 2:6197e1cf2cd1 | 45 | DigitalOut _fwd; |
Stumi | 2:6197e1cf2cd1 | 46 | DigitalOut _rev; |
Stumi | 2:6197e1cf2cd1 | 47 | |
Stumi | 2:6197e1cf2cd1 | 48 | }; |
Stumi | 2:6197e1cf2cd1 | 49 | |
Stumi | 2:6197e1cf2cd1 | 50 | /*-------------------------------------------------------------------------------- |
Stumi | 2:6197e1cf2cd1 | 51 | -----------------------------------Functions--------------------------------------- |
Stumi | 2:6197e1cf2cd1 | 52 | --------------------------------------------------------------------------------*/ |
Stumi | 4:36a04230554d | 53 | void Check_for_obstacles(uint8_t TOFRange[4]); //Obstacle avoidance functionality |
Stumi | 7:8248af58df5a | 54 | void update_power_levels(float vBatt); //Sends power level to the LED class for further processing |
Stumi | 2:6197e1cf2cd1 | 55 | /*-------------------------------------------------------------------------------- |
Stumi | 2:6197e1cf2cd1 | 56 | --------------------------------External Variables-------------------------------- |
Stumi | 2:6197e1cf2cd1 | 57 | --------------------------------------------------------------------------------*/ |
Stumi | 4:36a04230554d | 58 | //extern cMotor MotorL; //Left motor class and pin initialisation |
Stumi | 4:36a04230554d | 59 | //extern cMotor MotorR; //Right motor class and pin initialisation |
Stumi | 2:6197e1cf2cd1 | 60 | |
Stumi | 2:6197e1cf2cd1 | 61 | #endif |