jetfishteam / Mbed 2 deprecated jetfish

the fish that looks like a jet

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo

motor_controller.h@0:ff9bc5f69c57, 2014-01-21 (annotated)

Committer:
sandwich
Date:
Tue Jan 21 21:32:05 2014 +0000
Revision:
0:ff9bc5f69c57
Child:
6:a4d6f3e4bf28
pololu motor controller works with sine waveform input. IMU is untested

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:ff9bc5f69c57 1 #pragma once
sandwich 0:ff9bc5f69c57 2 #include "mbed.h"
sandwich 0:ff9bc5f69c57 3
sandwich 0:ff9bc5f69c57 4 class PololuMController
sandwich 0:ff9bc5f69c57 5 {
sandwich 0:ff9bc5f69c57 6 private:
sandwich 0:ff9bc5f69c57 7 PwmOut* pwm;
sandwich 0:ff9bc5f69c57 8 DigitalOut* outA;
sandwich 0:ff9bc5f69c57 9 DigitalOut* outB;
sandwich 0:ff9bc5f69c57 10 float timestamp;
sandwich 0:ff9bc5f69c57 11 public:
sandwich 0:ff9bc5f69c57 12 PololuMController();
sandwich 0:ff9bc5f69c57 13 PololuMController(PinName pwmport, PinName A, PinName B);
sandwich 0:ff9bc5f69c57 14 ~PololuMController();
sandwich 0:ff9bc5f69c57 15 void setspeed(float speed); //0 to 1
sandwich 0:ff9bc5f69c57 16 void setpolarspeed(float speed); //-1 to 1
sandwich 0:ff9bc5f69c57 17 void reverse(); //only works on non-polar speed
sandwich 0:ff9bc5f69c57 18 void drive_sinusoidal(float cur_time, float a, float w, float phi); //a*sin(w*cur_time+phi)
sandwich 0:ff9bc5f69c57 19 };