Terrabots
cleaned up motor class with separate header and .cpp files
Dependencies: mbed
Dependents: TerraBot_Drive_2D TerraBot_Drive_2D TerraBot_Drive_2D_FINAL DUMP_TRUCK_Test ... more
Motor.h@4:e87768d3cd09, 2017-02-14 (annotated)
- Committer:
- simplyellow
- Date:
- Tue Feb 14 20:46:08 2017 +0000
- Revision:
- 4:e87768d3cd09
- Parent:
- 2:7674afbf8e53
added some doxygen tags
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| simplyellow | 4:e87768d3cd09 | 1 | /** |
| simplyellow | 4:e87768d3cd09 | 2 | * @file Motor.h |
| simplyellow | 4:e87768d3cd09 | 3 | * |
| simplyellow | 4:e87768d3cd09 | 4 | * @brief Motor class implements API for controlling motors. |
| simplyellow | 4:e87768d3cd09 | 5 | * |
| simplyellow | 4:e87768d3cd09 | 6 | * @author Terrabots Team |
| simplyellow | 4:e87768d3cd09 | 7 | * |
| simplyellow | 4:e87768d3cd09 | 8 | */ |
| simplyellow | 4:e87768d3cd09 | 9 | |
| simplyellow | 2:7674afbf8e53 | 10 | #ifndef MOTOR_H |
| simplyellow | 2:7674afbf8e53 | 11 | #define MOTOR_H |
| simplyellow | 0:0a5af2965205 | 12 | |
| simplyellow | 0:0a5af2965205 | 13 | #include "mbed.h" |
| simplyellow | 0:0a5af2965205 | 14 | |
| simplyellow | 4:e87768d3cd09 | 15 | /** |
| simplyellow | 4:e87768d3cd09 | 16 | * @class Motor |
| simplyellow | 4:e87768d3cd09 | 17 | * |
| simplyellow | 4:e87768d3cd09 | 18 | * @brief Interface for controlling the dump truck's motors |
| simplyellow | 4:e87768d3cd09 | 19 | */ |
| simplyellow | 4:e87768d3cd09 | 20 | |
| simplyellow | 0:0a5af2965205 | 21 | class Motor { |
| simplyellow | 0:0a5af2965205 | 22 | public: |
| simplyellow | 4:e87768d3cd09 | 23 | /** |
| simplyellow | 4:e87768d3cd09 | 24 | * Constructor for the Motor object. |
| simplyellow | 4:e87768d3cd09 | 25 | * |
| simplyellow | 4:e87768d3cd09 | 26 | * @param[in] pwm The PwmOut pin used for controlling speed. |
| simplyellow | 4:e87768d3cd09 | 27 | * @param[in] dir The DigitalOut pin used for controlling direction. |
| simplyellow | 4:e87768d3cd09 | 28 | */ |
| simplyellow | 0:0a5af2965205 | 29 | Motor(PinName pwm, PinName dir); |
| simplyellow | 4:e87768d3cd09 | 30 | /** |
| simplyellow | 4:e87768d3cd09 | 31 | * Command the motor to run at a desired speed |
| simplyellow | 4:e87768d3cd09 | 32 | * |
| simplyellow | 4:e87768d3cd09 | 33 | * @param[in] Val The desired speed of type float. |
| simplyellow | 4:e87768d3cd09 | 34 | */ |
| simplyellow | 0:0a5af2965205 | 35 | void write(float Val); |
| simplyellow | 4:e87768d3cd09 | 36 | /** |
| simplyellow | 4:e87768d3cd09 | 37 | * Read the speed of the motor |
| simplyellow | 4:e87768d3cd09 | 38 | */ |
| simplyellow | 0:0a5af2965205 | 39 | float read(); |
| simplyellow | 0:0a5af2965205 | 40 | private: |
| simplyellow | 0:0a5af2965205 | 41 | PwmOut pwmPin; |
| simplyellow | 0:0a5af2965205 | 42 | DigitalOut dirPin; |
| simplyellow | 0:0a5af2965205 | 43 | float lastVal; |
| simplyellow | 0:0a5af2965205 | 44 | |
| simplyellow | 0:0a5af2965205 | 45 | }; |
| simplyellow | 0:0a5af2965205 | 46 | |
| simplyellow | 0:0a5af2965205 | 47 | #endif |