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@24:fb1f083ebd62, 2016-04-03 (annotated)

Committer:
12104404
Date:
Sun Apr 03 07:25:07 2016 +0000
Revision:
24:fb1f083ebd62
Parent:
23:455f7da3dd7a
Child:
25:f3bf8351bbd4
Added LED Error Indicators

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 17:2f89826b5679 5 #include "LOCALIZE.h"
12104404 6:0602a9e8118b 6
12104404 16:d6f15a13c3aa 7 #define SPEED_TURN_MIN 0.20
12104404 16:d6f15a13c3aa 8 #define SPEED_TURN_MAX 0.65
12104404 15:7729da55873a 9
12104404 15:7729da55873a 10 enum {
12104404 15:7729da55873a 11 ANGLE_TURN = 0,
12104404 15:7729da55873a 12 ANGLE_BIAS = 1,
12104404 15:7729da55873a 13 };
12104404 6:0602a9e8118b 14
12104404 6:0602a9e8118b 15 class LOCOMOTION
12104404 6:0602a9e8118b 16 {
12104404 6:0602a9e8118b 17 public:
12104404 24:fb1f083ebd62 18 LOCOMOTION(PinName en, PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4);
12104404 23:455f7da3dd7a 19 DigitalOut _en;
12104404 15:7729da55873a 20 PwmOut _m1f;
12104404 15:7729da55873a 21 PwmOut _m1b;
12104404 15:7729da55873a 22 PwmOut _m2f;
12104404 15:7729da55873a 23 PwmOut _m2b;
12104404 15:7729da55873a 24 DigitalOut _m1dir;
12104404 15:7729da55873a 25 DigitalOut _m2dir;
12104404 24:fb1f083ebd62 26 DigitalOut _led1;
12104404 24:fb1f083ebd62 27 DigitalOut _led2;
12104404 24:fb1f083ebd62 28 DigitalOut _led3;
12104404 24:fb1f083ebd62 29 DigitalOut _led4;
12104404 23:455f7da3dd7a 30 void eStop(void);
12104404 18:f9012e93edb8 31 bool setXPos(int target, int current, int error, int angle);
12104404 18:f9012e93edb8 32 bool setYPos(int target, int current, int error, int angle);
12104404 15:7729da55873a 33 bool setAngle(int target, int current, int error, int mode);
12104404 15:7729da55873a 34
12104404 15:7729da55873a 35 protected:
12104404 17:2f89826b5679 36 float s;
12104404 23:455f7da3dd7a 37 void stopMotors(void);
12104404 23:455f7da3dd7a 38 int wrap(int num);
12104404 19:2dd81b864e14 39
12104404 6:0602a9e8118b 40 };
12104404 6:0602a9e8118b 41 #endif