Implement new controller
Dependencies: mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo
Fork of Orion_newPCB_test by
01_DriveTrain/motorDriver.h@23:6806c3bacf58, 2018-03-13 (annotated)
- Committer:
- harrynguyen
- Date:
- Tue Mar 13 10:07:17 2018 +0000
- Revision:
- 23:6806c3bacf58
- Parent:
- 11:49344285c82a
Remove NRF, Data Recorder, And Camera control of Virgo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 11:49344285c82a | 1 | #ifndef motorDriver_H |
akashvibhute | 11:49344285c82a | 2 | #define motorDriver_H |
akashvibhute | 11:49344285c82a | 3 | |
akashvibhute | 11:49344285c82a | 4 | #include "generalFunctions.h" |
akashvibhute | 11:49344285c82a | 5 | #include "mbed.h" |
harrynguyen | 23:6806c3bacf58 | 6 | #include "orion_pinmapping.h" |
akashvibhute | 11:49344285c82a | 7 | #include "config.h" |
akashvibhute | 11:49344285c82a | 8 | |
akashvibhute | 11:49344285c82a | 9 | class motorDriver |
akashvibhute | 11:49344285c82a | 10 | { |
akashvibhute | 11:49344285c82a | 11 | public: |
akashvibhute | 11:49344285c82a | 12 | //motorDriver(PinName mPlus, PinName mMinus, int freq_khz); |
akashvibhute | 11:49344285c82a | 13 | //void setPWM(float val); |
akashvibhute | 11:49344285c82a | 14 | |
akashvibhute | 11:49344285c82a | 15 | motorDriver(); |
akashvibhute | 11:49344285c82a | 16 | void setPWM_L(float val); |
akashvibhute | 11:49344285c82a | 17 | void setPWM_R(float val); |
akashvibhute | 11:49344285c82a | 18 | |
akashvibhute | 11:49344285c82a | 19 | private: |
akashvibhute | 11:49344285c82a | 20 | /*PwmOut motor_P; |
akashvibhute | 11:49344285c82a | 21 | PwmOut motor_M;*/ |
akashvibhute | 11:49344285c82a | 22 | PwmOut motorL_P; |
akashvibhute | 11:49344285c82a | 23 | PwmOut motorL_M; |
akashvibhute | 11:49344285c82a | 24 | PwmOut motorR_P; |
akashvibhute | 11:49344285c82a | 25 | PwmOut motorR_M; |
akashvibhute | 11:49344285c82a | 26 | |
akashvibhute | 11:49344285c82a | 27 | static const float maxPWM = 100.0; |
akashvibhute | 11:49344285c82a | 28 | static const float minPWM = -100.0; |
akashvibhute | 11:49344285c82a | 29 | }; |
akashvibhute | 11:49344285c82a | 30 | |
akashvibhute | 11:49344285c82a | 31 | |
akashvibhute | 11:49344285c82a | 32 | #endif |