Diff: MotorControl.h

Revision:

0:a1bb4583940a

Child:

1:7ce4ffeb8ccb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorControl.h	Thu Mar 24 20:12:32 2016 +0000
@@ -0,0 +1,40 @@
+#include "mbed.h"
+#include "TFC.h"
+
+#ifndef _MOTORCONTROL_H
+#define _MOTORCONTROL_H
+
+#define MOTSAMPLECOUNT 100
+#define BATSAMPLECOUNT 100
+
+class Motors
+{
+    public:
+
+    Motors();
+    void start();
+    void stop();
+    void saveBatteryVoltageMeasure(uint16_t ADCresult);
+    void saveMotorCurrentMeasure(uint16_t MotA_ADCresult, uint16_t MotB_ADCresult);
+    void saveSteering(float angle);
+    float getWheelSpeed(char mot);
+    float getWheelRPS(char mot);
+    void processTasks();
+    float getAverageMotCurrent(char mot);
+    float getAverageBatteryVoltage();
+    void setFixedPWMValue(float pwm);
+
+    private:
+    
+    uint16_t motorACurrent[MOTSAMPLECOUNT];
+    uint16_t motorBCurrent[MOTSAMPLECOUNT];
+    uint16_t batteryVoltage[BATSAMPLECOUNT];
+    
+    uint8_t motorCurrentIndex;
+    uint8_t batVoltageIndex;
+    
+    float currentPWM;
+    float steeringAngle;
+};
+
+#endif
\ No newline at end of file