Motor class working
Dependencies: QEI biquadFilter mbed
Motor.h
- Committer:
- Alex_Kyrl
- Date:
- 2017-10-16
- Revision:
- 3:9d861827b714
- Parent:
- 1:1a01edf0379c
File content as of revision 3:9d861827b714:
#ifndef MOTOR_H #define MOTOR_H #include "mbed.h" #include "QEI.h" #include "iostream" class Motor { private: float velocity ; // acual velocity of motor in degrees/s float angle ; // angle of the motor in degrees float frequency ; float sample_time; // set sample time of motor float angle_prev; float safety_angle; //safety angle in degrees int POS , NEG; QEI _Encoder; DigitalOut _direction; PwmOut _PWM; public: Motor(); Motor(float , PinName , PinName , PinName , PinName , PinName , int , float , int , float , float , int); void change_direction(); void control_velocity(float); void set_period(float); void set_angle(); //needs to be updated void set_velocity(); //needs to be updated float get_velocity(); float get_period(); }; #endif