DERPS
Dependencies: BMP280 BNO055_fusion PowerControl mbed
Fork of STRAIGHT_DRIVE_NO_SEP by
LOCOMOTION.h
- Committer:
- 12104404
- Date:
- 2016-04-03
- Revision:
- 24:fb1f083ebd62
- Parent:
- 23:455f7da3dd7a
- Child:
- 25:f3bf8351bbd4
File content as of revision 24:fb1f083ebd62:
#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 en, PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4); DigitalOut _en; PwmOut _m1f; PwmOut _m1b; PwmOut _m2f; PwmOut _m2b; DigitalOut _m1dir; DigitalOut _m2dir; DigitalOut _led1; DigitalOut _led2; DigitalOut _led3; DigitalOut _led4; 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); protected: float s; void stopMotors(void); int wrap(int num); }; #endif