Team Virgo v3 / Orion_newPCB_test_LV

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Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

01_DriveTrain/motorDriver.h@11:49344285c82a, 2016-04-24 (annotated)

Committer:
akashvibhute
Date:
Sun Apr 24 23:54:50 2016 +0000
Revision:
11:49344285c82a
Child:
23:6806c3bacf58
Purepursuit + pid pitch control works nicely; this is the demo setup for the french contigent - 25/Apr/2016

Who changed what in which revision?

UserRevisionLine numberNew 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"
akashvibhute 11:49344285c82a 6 #include "virgo3_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