ESC routines
ESC.h
- Committer:
- Decimus
- Date:
- 2016-05-30
- Revision:
- 0:c995af692179
File content as of revision 0:c995af692179:
/* mbed ESC Library * Copyright (c) 2012 Oleg Evsegneev * Released under the MIT License: http://mbed.org/license/mit */ #ifndef MBED_ESC_H #define MBED_ESC_H #define MODE_PWM //#define CIRC_TEST #include "mbed.h" #include "Servo.h" class ESC { public: ESC(PinName x1, PinName x2, PinName y1, PinName y2, PinName led); /** Set thrust * * Sets thrust to motors */ void set( float x1, float x2, float y1, float y2 ); /** Stop motors * * Sets all motor thrust to 0.0 */ void stop(); /** Initialize esc * * 1.Plug in LiPO battery * 2.ESC init (2sec led on) * 3.ESC ready (led off) */ void initialize_(); /** Calibrate esc * 1.Plug in external mcu power * 2.Plug in LiPO battery (5sec led blinking) * 3.ESC init (2sec led on) * 4.ESC ready (led off) */ void calibrate_(); /** Blink led */ void blink(uint16_t delay); protected: #ifdef MODE_PPM Servo _esc_x1, _esc_x2, _esc_y1, _esc_y2; Servo* _esca[4]; #else PwmOut _esc_x1, _esc_x2, _esc_y1, _esc_y2; PwmOut* _esca[4]; #endif DigitalOut _led; }; #endif