Edwin Cho / Mbed 2 deprecated FLOW_DERP

DERPS

Dependencies:   BMP280 BNO055_fusion PowerControl mbed

Fork of STRAIGHT_DRIVE_NO_SEP by Antoine Laurens

LOCOMOTION.h@15:7729da55873a, 2016-03-24 (annotated)

Committer:
12104404
Date:
Thu Mar 24 07:20:51 2016 +0000
Revision:
15:7729da55873a
Parent:
6:0602a9e8118b
Child:
16:d6f15a13c3aa
how to combine x y control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
12104404 6:0602a9e8118b 1 #ifndef LOCOMOTION_H
12104404 6:0602a9e8118b 2 #define LOCOMOTION_H
12104404 6:0602a9e8118b 3
12104404 6:0602a9e8118b 4 #include "mbed.h"
12104404 6:0602a9e8118b 5
12104404 15:7729da55873a 6 #define SPEED_TURN_MIN 0.15
12104404 15:7729da55873a 7 #define SPEED_TURN_MAX 0.35
12104404 15:7729da55873a 8
12104404 15:7729da55873a 9 enum {
12104404 15:7729da55873a 10 ANGLE_TURN = 0,
12104404 15:7729da55873a 11 ANGLE_BIAS = 1,
12104404 15:7729da55873a 12 };
12104404 6:0602a9e8118b 13
12104404 6:0602a9e8118b 14 class LOCOMOTION
12104404 6:0602a9e8118b 15 {
12104404 6:0602a9e8118b 16 public:
12104404 15:7729da55873a 17 LOCOMOTION(PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
12104404 15:7729da55873a 18 PwmOut _m1f;
12104404 15:7729da55873a 19 PwmOut _m1b;
12104404 15:7729da55873a 20 PwmOut _m2f;
12104404 15:7729da55873a 21 PwmOut _m2b;
12104404 15:7729da55873a 22 DigitalOut _m1dir;
12104404 15:7729da55873a 23 DigitalOut _m2dir;
12104404 15:7729da55873a 24 bool setAngle(int target, int current, int error, int mode);
12104404 15:7729da55873a 25 int wrap(int num);
12104404 15:7729da55873a 26
12104404 15:7729da55873a 27 protected:
12104404 15:7729da55873a 28
12104404 6:0602a9e8118b 29 };
12104404 6:0602a9e8118b 30 #endif