Diff: Components/l6206/l6206_class.h

Revision:

3:b06e38d365d7

Parent:

2:65057305b86e

Child:

4:e1e5466ad5a7

diff -r 65057305b86e -r b06e38d365d7 Components/l6206/l6206_class.h
--- a/Components/l6206/l6206_class.h	Tue May 17 12:14:35 2016 +0000
+++ b/Components/l6206/l6206_class.h	Tue Jun 14 12:14:28 2016 +0000
@@ -72,7 +72,7 @@
  *   #include "../Interfaces/Humidity_class.h"                                *
  *   #include "../Interfaces/Temperature_class.h"                             *
  *----------------------------------------------------------------------------*/
-#include "../Interfaces/Motor_class.h"
+#include "../Interfaces/BDCMotor_class.h"
 
 
 
@@ -118,7 +118,7 @@
 /**
  * @brief Class representing a L6206 component.
  */
-class L6206 : public Motor
+class L6206 : public BDCMotor
 {
 public:
 
@@ -127,7 +127,7 @@
 	/**
 	 * @brief Constructor.
 	 */
-	L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : Motor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+	L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : BDCMotor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
 	{
 		/* ACTION 4 ----------------------------------------------------------*
 		 * Initialize here the component's member variables, one variable per *
@@ -225,9 +225,9 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval current speed in % from 0 to 100
  	*/
-	virtual uint16_t GetCurrentSpeed(uint8_t motorId)
+	virtual unsigned int GetSpeed(unsigned int motorId)
 	{
-		return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
+		return (unsigned int) L6206_GetCurrentSpeed((uint8_t) motorId);
 	}
 
 	/**
@@ -235,7 +235,7 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval State (STEADY or INACTIVE)
  	*/
-	virtual motorState_t GetDeviceState(uint8_t motorId)
+	virtual motorState_t GetDeviceState(unsigned int motorId)
 	{
 		return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
 	}
@@ -254,7 +254,7 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval maxSpeed in % from 0 to 100
  	*/
-	virtual uint16_t GetMaxSpeed(uint8_t motorId)
+	virtual uint16_t GetMaxSpeed(unsigned int motorId)
 	{
 		return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
 	}
@@ -264,7 +264,7 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval none
  	*/
-	virtual void HardStop(uint8_t motorId)
+	virtual void HardStop(unsigned int motorId)
 	{
 		L6206_HardStop((uint8_t) motorId);
 	}
@@ -276,9 +276,9 @@
  	* @retval None
  	* @note  For unidirectionnal motor, direction parameter has no effect
  	*/
-	virtual void Run(uint8_t stepCount, motorDir_t direction)
+	virtual void Run(unsigned int motorId, direction_t direction)
 	{
-		L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
+		L6206_Run((uint8_t) motorId, (motorDir_t) direction);
 	}
 
 	/**
@@ -287,7 +287,7 @@
  	* @param[in] newMaxSpeed in % from 0 to 100
  	* @retval true if the command is successfully executed, else false
  	*/
-	virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed)
+	virtual bool SetSpeed(unsigned int motorId, unsigned int newMaxSpeed)
 	{
 		return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
 	}
@@ -300,7 +300,7 @@
  	* together, the disabling of one bridge leads to the disabling
  	* of the second one
  	*/
-	virtual void CmdDisable(uint8_t bridgeId)
+	virtual void DisableBridge(unsigned int bridgeId)
 	{
 		L6206_DisableBridge((uint8_t) bridgeId);
 	}
@@ -313,7 +313,7 @@
  	* together, the enabling of one bridge leads to the enabling
  	* of the second one
  	*/
-	virtual void CmdEnable(uint8_t bridgeId)
+	virtual void EnableBridge(unsigned int bridgeId)
 	{
 		L6206_EnableBridge((uint8_t) bridgeId);
 	}
@@ -323,9 +323,9 @@
  	* @param[in] bridgeId from 0 for bridge A to 1 for bridge B
  	* @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
   	*/
-	virtual uint16_t CmdGetStatus(uint8_t bridgeId)
+	virtual unsigned int GetBridgeStatus(unsigned int bridgeId)
 	{
-		return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
+		return (unsigned int) L6206_GetBridgeStatus((uint8_t) bridgeId);
 	}
 
 	/**
@@ -335,7 +335,7 @@
  	* @note  if two motors uses the same power bridge, the 
  	* power bridge will be disable only if the two motors are stopped
  	*/
-	virtual void CmdHardHiZ(uint8_t motorId)
+	virtual void HardHiZ(unsigned int motorId)
 	{
 		L6206_HardHiz((uint8_t) motorId);
 	}
@@ -356,7 +356,7 @@
  	* dualFullBridgeConfig_t enum
  	* @retval None
  	*/
-	virtual void SetDualFullBridgeConfig(uint8_t newConfig)
+	virtual void SetDualFullBridgeConfig(unsigned int newConfig)
 	{
 		L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
 	}
@@ -366,9 +366,9 @@
  	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
  	* @retval Freq in Hz
  	*/
-	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
+	virtual unsigned int  GetBridgeInputPwmFreq(unsigned int bridgeId)
 	{
-		return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+		return (unsigned int) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
 	}
 
 	/**
@@ -377,7 +377,7 @@
  	* @param[in] newFreq in Hz
  	* @retval None
  	*/
-	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+	virtual void SetBridgeInputPwmFreq(unsigned int bridgeId, unsigned int newFreq)
 	{
 		L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
 	}