Diff: LOCOMOTION.h

Revision:

15:7729da55873a

Parent:

6:0602a9e8118b

Child:

16:d6f15a13c3aa

--- a/LOCOMOTION.h	Thu Mar 24 03:54:29 2016 +0000
+++ b/LOCOMOTION.h	Thu Mar 24 07:20:51 2016 +0000
@@ -3,19 +3,28 @@
 
 #include "mbed.h"
 
-typedef struct {
-    uint8_t m1f;
-    uint8_t m1b;
-    uint8_t m2f;
-    uint8_t m2b;
-    bool    f1;
-    bool    f2;
-} LOCOMOTION_speed;
+#define SPEED_TURN_MIN  0.15
+#define SPEED_TURN_MAX  0.35
+
+enum {
+    ANGLE_TURN  = 0,
+    ANGLE_BIAS  = 1,
+};
 
 class LOCOMOTION
 {
 public:
-    LOCOMOTION(PwmOut& motor1F, PwmOut& motor1B,PwmOut& motor2F, PwmOut& motor2B, DigitalOut& forward1, DigitalOut& forward2);
-    LOCOMOTION_speed _speed;
+    LOCOMOTION(PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
+    PwmOut _m1f;
+    PwmOut _m1b;
+    PwmOut _m2f;
+    PwmOut _m2b;
+    DigitalOut _m1dir;
+    DigitalOut _m2dir;
+    bool setAngle(int target, int current, int error, int mode);
+    int wrap(int num);
+
+protected:
+
 };
 #endif
\ No newline at end of file