jetfishteam
the fish that looks like a jet
Dependencies: ADXL345 ADXL345_I2C IMUfilter ITG3200 mbed Servo
Diff: motor_controller.h
- Revision:
- 0:ff9bc5f69c57
- Child:
- 6:a4d6f3e4bf28
diff -r 000000000000 -r ff9bc5f69c57 motor_controller.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_controller.h Tue Jan 21 21:32:05 2014 +0000
@@ -0,0 +1,19 @@
+#pragma once
+#include "mbed.h"
+
+class PololuMController
+{
+ private:
+ PwmOut* pwm;
+ DigitalOut* outA;
+ DigitalOut* outB;
+ float timestamp;
+ public:
+ PololuMController();
+ PololuMController(PinName pwmport, PinName A, PinName B);
+ ~PololuMController();
+ void setspeed(float speed); //0 to 1
+ void setpolarspeed(float speed); //-1 to 1
+ void reverse(); //only works on non-polar speed
+ void drive_sinusoidal(float cur_time, float a, float w, float phi); //a*sin(w*cur_time+phi)
+};
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