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

Diff: Motor.h

Revision:
8:92f6baeea027
Parent:
4:25e028102625
diff -r 2cb18392649d -r 92f6baeea027 Motor.h
--- a/Motor.h	Fri Feb 03 04:08:32 2017 +0000
+++ b/Motor.h	Fri Feb 03 19:40:27 2017 +0000
@@ -1,5 +1,11 @@
 #pragma once
-#include "mbed.h"
+
+#include <mbed.h>
+
+#define MotorDir unsigned char
+#define MDIR_Forward  1
+#define MDIR_Backward 0
+
 
 class Motor{
 
@@ -9,25 +15,25 @@
     
     ~Motor();
     
-    static void setLeftSpeed(int speed);
+    void Update(float deltaTime);
+    
+    void setLeftSpeed(float speed);
+    
+    void setRightSpeed(float speed);
     
-    static void setRightSpeed(int speed);
+    void setSpeeds(float speedLeft, float speedRight);
+    
+    void setLeftDirection(MotorDir dir);
     
-    static void setSpeeds(int speedLeft, int speedRight);
+    void setRightDirection(MotorDir dir);
+    
+    void setDirections(MotorDir dirL, MotorDir dirR);
 
 private:
-
-    static inline void init()
-    {
-        static bool initialized = false;
-        
-        if(!initialized)
-        {
-            initialized = true;
-            initializeMotor();
-        }    
-    }
+    DigitalOut m_dirL;
+    DigitalOut m_dirR;
     
-    static void initializeMotor();
-
+    PwmOut m_pwmL;
+    PwmOut m_pwmR;
+    
 };
\ No newline at end of file