Diff: Motor/Motor.hpp

Revision:

0:8f5db5085df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor/Motor.hpp	Mon Sep 21 21:42:07 2020 +0000
@@ -0,0 +1,32 @@
+#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(PinName motor_pin);
+        
+    private:
+         void motorJogging(void);
+     
+};
+#endif
\ No newline at end of file