Motor.h

00001 /*--------------------------------------------------------------------------------
00002 Filename: TOF.h
00003 Description: Header file for adafruit VL_6180X TOF sensor
00004 --------------------------------------------------------------------------------*/
00005 #ifndef MOTOR_H
00006 #define MOTOR_H
00007 
00008 #include "mbed.h"
00009 #include "Buzzer.h"
00010 #include <ros.h>
00011 #include <Servo.h>
00012 #include <std_msgs/UInt8.h>
00013 
00014 /*--------------------------------------------------------------------------------
00015 ---------------------------------DEFINES------------------------------------------
00016 --------------------------------------------------------------------------------*/
00017 
00018 //MOTOR 1
00019 #define M1_IN1  PC_6
00020 #define M1_IN2  PB_15
00021 #define M1_PWM  PB_13
00022 #define M1_A    PA_4
00023 #define M1_B    PB_12
00024 
00025 //MOTOR 2
00026 #define M2_IN1  PA_15
00027 #define M2_IN2  PC_7
00028 #define M2_PWM  PB_4
00029 #define M2_A    PB_5
00030 #define M2_B    PB_3
00031 #define srvoPan PE_5
00032 #define srvoTilt PF_9
00033 
00034 
00035 static Servo servo1(srvoTilt);
00036 static Servo servo2(srvoPan);
00037 
00038 /*--------------------------------------------------------------------------------
00039 ---------------------------------CLASSES------------------------------------------
00040 --------------------------------------------------------------------------------*/
00041 
00042 // Class for managing connection and state to a VL6180X sensor
00043 
00044 class cMotor
00045 {
00046 public:
00047     cMotor(PwmOut pwm, DigitalOut fwd, DigitalOut rev);  //Constructor, initialised motor pinouts
00048     void Forwards(float speed); //Drives motor forwards
00049     void Backwards(float speed);//Drives motor backwards
00050     void Stop();    //Stops both motors
00051 private:
00052     PwmOut _pwm;
00053     DigitalOut _fwd;
00054     DigitalOut _rev;
00055 
00056 };
00057 
00058 /*--------------------------------------------------------------------------------
00059 -----------------------------------Functions---------------------------------------
00060 --------------------------------------------------------------------------------*/
00061 void Check_for_obstacles(uint8_t TOFRange[4]); //Obstacle avoidance functionality
00062 void update_power_levels(float vBatt);  //Sends power level to the LED class for further processing
00063 void MotorKeySub(const std_msgs::UInt8 &keyPress);
00064 void servoKeySub(const std_msgs::UInt8 &ServoKeyPress);
00065 
00066 /*--------------------------------------------------------------------------------
00067 --------------------------------External Variables--------------------------------
00068 --------------------------------------------------------------------------------*/
00069 //extern cMotor MotorL;  //Left motor class and pin initialisation
00070 //extern cMotor MotorR;  //Right motor class and pin initialisation
00071 
00072 
00073 static int IncSize; //Increment size for servo movment in increments of 1 - 20 degrees
00074  
00075 
00076 #endif