File content as of revision 1:7ce4ffeb8ccb:

#include "mbed.h"
#include "TFC.h"

#ifndef _MOTORCONTROL_H
#define _MOTORCONTROL_H

#define MOTSAMPLECOUNT 100
#define BATSAMPLECOUNT 50

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