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

Motor.h

Committer:
Bobymicjohn
Date:
2017-02-03
Revision:
8:92f6baeea027
Parent:
4:25e028102625

File content as of revision 8:92f6baeea027:

#pragma once

#include <mbed.h>

#define MotorDir unsigned char
#define MDIR_Forward  1
#define MDIR_Backward 0


class Motor{

public:

    Motor();
    
    ~Motor();
    
    void Update(float deltaTime);
    
    void setLeftSpeed(float speed);
    
    void setRightSpeed(float speed);
    
    void setSpeeds(float speedLeft, float speedRight);
    
    void setLeftDirection(MotorDir dir);
    
    void setRightDirection(MotorDir dir);
    
    void setDirections(MotorDir dirL, MotorDir dirR);

private:
    DigitalOut m_dirL;
    DigitalOut m_dirR;
    
    PwmOut m_pwmL;
    PwmOut m_pwmR;
    
};