TrekkingPhoenix / Mbed 2 deprecated TrekkingControllerV1-4_WinterChallenge20

Ironcup Mar 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Motor/Motor.h

Committer:
starling
Date:
2020-09-21
Revision:
22:b7cca3089dfe
Parent:
20:7138ab2f93f7

File content as of revision 22:b7cca3089dfe:

#ifndef MOTOR_HEADER
#define MOTOR_HEADER

#include "mbed.h"
#include "CarPWM.h"

class Motor{
    
    protected:
    Ticker interruption;
    bool alternate_motor;
    float velocity;
    float jog_duty_cycle;
    float jog_period;
    PwmOut motor;

public:
    
    void startJogging(float jog_dc, float jog_p);
    void stopJogging(void);
    void brakeMotor(float brake_intensity, float brake_wait);
    void reverseMotor(int speed);
    void setVelocity(int new_velocity);
    float getVelocity();
    void setSmoothVelocity(int new_velocity);
    Motor(): motor(PTC3){}
    
private:
     void motorJogging(void);
     
};
#endif