Diff: LOCOMOTION.h

Revision:

23:455f7da3dd7a

Parent:

19:2dd81b864e14

Child:

24:fb1f083ebd62

--- a/LOCOMOTION.h	Sun Apr 03 06:15:52 2016 +0000
+++ b/LOCOMOTION.h	Sun Apr 03 07:08:18 2016 +0000
@@ -15,21 +15,23 @@
 class LOCOMOTION
 {
 public:
-    LOCOMOTION(PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
+    LOCOMOTION(PinName en, PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
+    DigitalOut _en;
     PwmOut _m1f;
     PwmOut _m1b;
     PwmOut _m2f;
     PwmOut _m2b;
     DigitalOut _m1dir;
     DigitalOut _m2dir;
+    void eStop(void);
     bool setXPos(int target, int current, int error, int angle);
     bool setYPos(int target, int current, int error, int angle);
     bool setAngle(int target, int current, int error, int mode);
-    void stopMotors(void);
-    inline int wrap(int num);
 
 protected:
     float s;
+    void stopMotors(void);
+    int wrap(int num);
     
 };
 #endif
\ No newline at end of file