Diff: ZumoShield.h

Revision:

0:c69b20870374

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZumoShield.h	Mon Oct 12 11:32:33 2015 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+
+/** Zumo Shield Control Class
+*/
+class ZumoShield {
+    public:
+    
+        /** Create a Zumo shield object
+         *
+         * @param m1pwm Motor1 pwm pin
+         * @param m1dir Motor1 direction pin
+         * @param m2pwm Motor2 pwm pin
+         * @param m2dir Motor2 direction pin
+         */
+        ZumoShield(PinName m1_pwm_pin, PinName m1_dir_pin,
+                   PinName m2_pwm_pin, PinName m2_dir_pin);
+                   //PinName a0_pin, PinName a1_pin, PinName a2_pin, PinName a3_pin, PinName a4_pin, PinName a5_pin);
+
+        /** Switch on the left motor at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void left_motor(float speed);
+        
+        /** Switch on the right motor at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void right_motor(float speed);
+        
+        /** Switch on both motors, forwards at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void forward(float speed);
+        
+        /** Switch on both motors, backwards at the given speed.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void backward(float speed);
+        
+        /** Switch on both motors at the given speed, in opposite directions so as to turn left.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
+        */
+        void left(float speed);
+        
+        /** Switch on both motors at the given speed, in opposite directions so as to turn right.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
+         */
+        void right(float speed);
+        
+        /** Turns left.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_left(float speed);
+        
+        /** Turns right.
+         *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
+         */
+        void turn_right(float speed);
+                
+        /** Stop a chosen motor.
+         *  @param motor Number, either 1 or 2 choosing the motor.
+         */
+        void stop(int motor);
+        
+        /** Stop left motor.
+         */
+        void stopLeft();
+        
+        /** Stop right motor.
+         */
+        void stopRight();
+        
+        /** Stop both motors at the same time. Different to disable.
+         */
+        void stopAll();
+                        
+        /** Gives an indication of the data given by the reflectivity sensors.
+         */
+        //float position();
+        
+    private:
+        PwmOut m1pwm;
+        PwmOut m2pwm;
+        DigitalOut m1dir;        
+        DigitalOut m2dir;
+        /*
+        AnalogIn a0sens;
+        AnalogIn a1sens;
+        AnalogIn a2sens;
+        AnalogIn a3sens;
+        AnalogIn a4sens;
+        AnalogIn a5sens;
+        */
+};