File content as of revision 9:9b00a28bc790:

#ifndef MBED_MOTORR_H
#define MBED_MOTORR_H

#include "mbed.h"
//#include "PID.h"

/*nastawy regulatora PID*/
/*
const float K = 1;
const float Ti = 0;
const float Td = 0;
const float itv = 0.001;
#define AUTO 1
*/
/** Interface to control a standard DC motor
*
* with an H-bridge using a PwmOut and 2 DigitalOuts
*/
class MotorR {
public:

    /** Create a motor control interface
    *
    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
    * @param fwd A DigitalOut, set high when the motor should go forward
    * @param rev A DigitalOut, set high when the motor should go backwards
    */
    MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby);

    /** Set the speed of the motor
    *
    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
    */
    void speed(float speed);
    
    /**Change the stand by status of H-bridge
    *
    * @param status 0 - bridge disabled, 1 - bridge enabled
    */
    void setStandby(bool status)
    {
        _stdby = status;
    }

protected:
    PwmOut _pwm;
    DigitalOut _fwd;
    DigitalOut _rev;
    DigitalOut _stdby;
private:
    //PID speedControl;
    //QEI encoder;
    float set_speed;
    
};

#endif