Diff: esc.h

Revision:

0:ec466ef657a2

Child:

1:4c02fede684b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/esc.h	Thu Jun 06 18:57:02 2013 +0000
@@ -0,0 +1,79 @@
+/**
+ * esc.h
+ * UWB Quadcopter Project
+ *
+ *
+ * @Author
+ * Mitch Carlson
+ */
+#ifndef UWBQuad__ESC__H
+#define UWBQuad__ESC__H
+
+/** ESC Class Example:
+ * 
+ * @code
+ *
+#include "mbed.h"
+#include "esc.h"
+
+ESC esc1(PTD4);
+ESC esc2(PTA12);
+ESC esc3(PTA4);
+ESC esc4(PTA5);
+
+Serial pc(USBTX, USBRX);    // tx, rx
+
+int main() {
+    
+    char c;
+    int var = 0;
+
+    while(1) {
+        c = pc.getc();
+        
+        if (c == 'u') {
+            if (var < 100) {
+                var++;
+            }
+            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
+                printf("%i\r\n", var);
+            }
+        }
+        else if (c == 'd') {
+            if (var > 0) {
+                var--;
+            }
+            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
+                printf("%i\r\n", var);
+            }
+        }
+        else if (c == 'r') {
+            var = 0;
+            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
+                printf("%i\r\n", var);                
+            }
+        }
+        
+        esc1.pulse();
+        esc2.pulse();
+        esc3.pulse();
+        esc4.pulse();
+        wait_ms(20);  // 20ms is the default period of the ESC pwm
+    }
+}
+ * @endcode
+ */
+
+class ESC {
+public:
+    ESC(PwmOut,int=20);         // Constructor(pwmPinOut,period_ms)
+    bool setThrottle(int);      // range 0-100
+    void pulse(void);
+    
+private:
+    PwmOut esc;                 // pinout from MCU
+    int period;
+    int throttle;
+ };
+
+#endif // end of ESC
\ No newline at end of file