ZumoShield.h

00001 #include "mbed.h"
00002 
00003 /** Zumo Shield Control Class
00004 */
00005 class ZumoShield {
00006     public:
00007     
00008         /** Create a Zumo shield object
00009          *
00010          * @param m1pwm Motor1 pwm pin
00011          * @param m1dir Motor1 direction pin
00012          * @param m2pwm Motor2 pwm pin
00013          * @param m2dir Motor2 direction pin
00014          */
00015         ZumoShield(PinName m1_pwm_pin, PinName m1_dir_pin,
00016                    PinName m2_pwm_pin, PinName m2_dir_pin);
00017                    //PinName a0_pin, PinName a1_pin, PinName a2_pin, PinName a3_pin, PinName a4_pin, PinName a5_pin);
00018 
00019         /** Switch on the left motor at the given speed.
00020          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00021          */
00022         void left_motor(float speed);
00023         
00024         /** Switch on the right motor at the given speed.
00025          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00026          */
00027         void right_motor(float speed);
00028         
00029         /** Switch on both motors, forwards at the given speed.
00030          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00031          */
00032         void forward(float speed);
00033         
00034         /** Switch on both motors, backwards at the given speed.
00035          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00036          */
00037         void backward(float speed);
00038         
00039         /** Switch on both motors at the given speed, in opposite directions so as to turn left.
00040          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00041         */
00042         void left(float speed);
00043         
00044         /** Switch on both motors at the given speed, in opposite directions so as to turn right.
00045          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motors.
00046          */
00047         void right(float speed);
00048         
00049         /** Turns left.
00050          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00051          */
00052         void turn_left(float speed);
00053         
00054         /** Turns right.
00055          *  @param speed The speed, from 0.0 to 1.0 at which to spin the motor.
00056          */
00057         void turn_right(float speed);
00058                 
00059         /** Stop a chosen motor.
00060          *  @param motor Number, either 1 or 2 choosing the motor.
00061          */
00062         void stop(int motor);
00063         
00064         /** Stop left motor.
00065          */
00066         void stopLeft();
00067         
00068         /** Stop right motor.
00069          */
00070         void stopRight();
00071         
00072         /** Stop both motors at the same time. Different to disable.
00073          */
00074         void stopAll();
00075                         
00076         /** Gives an indication of the data given by the reflectivity sensors.
00077          */
00078         //float position();
00079         
00080     private:
00081         PwmOut m1pwm;
00082         PwmOut m2pwm;
00083         DigitalOut m1dir;        
00084         DigitalOut m2dir;
00085         /*
00086         AnalogIn a0sens;
00087         AnalogIn a1sens;
00088         AnalogIn a2sens;
00089         AnalogIn a3sens;
00090         AnalogIn a4sens;
00091         AnalogIn a5sens;
00092         */
00093 };