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

Committer:
12104404
Date:
2016-04-03
Revision:
19:2dd81b864e14
Parent:
18:f9012e93edb8
Child:
23:455f7da3dd7a

File content as of revision 19:2dd81b864e14:

#ifndef LOCOMOTION_H
#define LOCOMOTION_H

#include "mbed.h"
#include "LOCALIZE.h"

#define SPEED_TURN_MIN  0.20
#define SPEED_TURN_MAX  0.65

enum {
    ANGLE_TURN  = 0,
    ANGLE_BIAS  = 1,
};

class LOCOMOTION
{
public:
    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 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;
    
};
#endif