Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

Hardwares/Motor.h@11:676ea42afd56, 2017-02-07 (annotated)

Committer:
Bobymicjohn
Date:
Tue Feb 07 21:58:20 2017 +0000
Revision:
11:676ea42afd56
Parent:
9:b72e18f80f49
Child:
44:15de535c4005
Finished Core, and Servo classes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bobymicjohn 4:25e028102625 1 #pragma once
Bobymicjohn 8:92f6baeea027 2
Bobymicjohn 8:92f6baeea027 3 #include <mbed.h>
Bobymicjohn 8:92f6baeea027 4
Bobymicjohn 8:92f6baeea027 5 #define MotorDir unsigned char
Bobymicjohn 8:92f6baeea027 6 #define MDIR_Forward 1
Bobymicjohn 8:92f6baeea027 7 #define MDIR_Backward 0
Bobymicjohn 8:92f6baeea027 8
Bobymicjohn 11:676ea42afd56 9 namespace SW
Bobymicjohn 11:676ea42afd56 10 {
Bobymicjohn 11:676ea42afd56 11 class Core;
Bobymicjohn 11:676ea42afd56 12 }
Bobymicjohn 4:25e028102625 13
Bobymicjohn 4:25e028102625 14 class Motor{
Bobymicjohn 4:25e028102625 15
Bobymicjohn 4:25e028102625 16 public:
Bobymicjohn 11:676ea42afd56 17 Motor(SW::Core& core);
Bobymicjohn 4:25e028102625 18
Bobymicjohn 4:25e028102625 19 ~Motor();
Bobymicjohn 4:25e028102625 20
Bobymicjohn 8:92f6baeea027 21 void Update(float deltaTime);
Bobymicjohn 8:92f6baeea027 22
Bobymicjohn 8:92f6baeea027 23 void setLeftSpeed(float speed);
Bobymicjohn 8:92f6baeea027 24
Bobymicjohn 8:92f6baeea027 25 void setRightSpeed(float speed);
Bobymicjohn 4:25e028102625 26
Bobymicjohn 8:92f6baeea027 27 void setSpeeds(float speedLeft, float speedRight);
Bobymicjohn 8:92f6baeea027 28
Bobymicjohn 8:92f6baeea027 29 void setLeftDirection(MotorDir dir);
Bobymicjohn 4:25e028102625 30
Bobymicjohn 8:92f6baeea027 31 void setRightDirection(MotorDir dir);
Bobymicjohn 8:92f6baeea027 32
Bobymicjohn 8:92f6baeea027 33 void setDirections(MotorDir dirL, MotorDir dirR);
Bobymicjohn 4:25e028102625 34
Bobymicjohn 4:25e028102625 35 private:
Bobymicjohn 11:676ea42afd56 36
Bobymicjohn 11:676ea42afd56 37 SW::Core& m_core;
Bobymicjohn 11:676ea42afd56 38
Bobymicjohn 8:92f6baeea027 39 DigitalOut m_dirL;
Bobymicjohn 8:92f6baeea027 40 DigitalOut m_dirR;
Bobymicjohn 4:25e028102625 41
Bobymicjohn 8:92f6baeea027 42 PwmOut m_pwmL;
Bobymicjohn 8:92f6baeea027 43 PwmOut m_pwmR;
Bobymicjohn 8:92f6baeea027 44
Bobymicjohn 11:676ea42afd56 45 Motor();
Bobymicjohn 4:25e028102625 46 };