Diff: motor_controller.h

Revision:

11:8ec915eb70f6

Parent:

10:d9f1037f0cb0

Child:

12:7eeb29892625

--- a/motor_controller.h	Fri Jan 31 05:18:19 2014 +0000
+++ b/motor_controller.h	Fri Jan 31 19:36:28 2014 +0000
@@ -1,6 +1,6 @@
 #pragma once
 #include "mbed.h"
-#define MATH_PI 3.14159265359
+
 #define FREQ_MIN 0.5  //Hz
 #define FREQ_MAX 3  //Hz
 
@@ -9,22 +9,24 @@
 class PololuMController
 {
     private:
-    PwmOut* pwm;
-    DigitalOut* outA;
-    DigitalOut* outB;
-    float timestamp;
+    PwmOut pwm;
+    DigitalOut outA;
+    DigitalOut outB;
+    //float timestamp;
     
-    //for driving
-    float phi1, ome1,amp1;
-    bool firstTime;
+//    //for driving
+//    float phi1, ome1,amp1;
+//    bool firstTime;
+//    
+//    Timer t;
+    
     
     public:
     PololuMController();
     PololuMController(PinName pwmport, PinName A, PinName B);
-    ~PololuMController();
-    void setspeed(float speed);         //0 to 1
+    //void setspeed(float speed);         //0 to 1
     void setpolarspeed(float speed);    //-1 to 1
-    void reverse();                     //only works on non-polar speed
-    float drive_sinusoidal(float currentTime, float amplitude, float frequency);
-    void drive_rectangular(float currentTime, float amplitude, float frequency);
+    //void reverse();                     //only works on non-polar speed
+    //float drive_sinusoidal(float currentTime, float amplitude, float frequency);
+    //void drive_rectangular(float currentTime, float amplitude, float frequency);
 };
\ No newline at end of file