Diff: ESC.h

Revision:

0:c995af692179

diff -r 000000000000 -r c995af692179 ESC.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ESC.h	Mon May 30 08:08:52 2016 +0000
@@ -0,0 +1,64 @@
+/* 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