TrekkingPhoenix / Mbed 2 deprecated Trekking_Controller_refac

Refactoring Ironcup 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Motor/Motor.hpp

Committer:
starling
Date:
2020-09-21
Revision:
0:8f5db5085df7

File content as of revision 0:8f5db5085df7:

#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