TDPS3
RobotControl_H.h@0:32705e4af4b9, 2019-03-19 (annotated)
- Committer:
- QingshuZhang
- Date:
- Tue Mar 19 12:38:17 2019 +0000
- Revision:
- 0:32705e4af4b9
TDPS3;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
QingshuZhang | 0:32705e4af4b9 | 1 | #ifndef RobotControl_H |
QingshuZhang | 0:32705e4af4b9 | 2 | #define RobotControl_H |
QingshuZhang | 0:32705e4af4b9 | 3 | |
QingshuZhang | 0:32705e4af4b9 | 4 | #include <mbed.h> |
QingshuZhang | 0:32705e4af4b9 | 5 | |
QingshuZhang | 0:32705e4af4b9 | 6 | //RobotControl is used to control the direction and speed of the robot |
QingshuZhang | 0:32705e4af4b9 | 7 | //attributes : the pinouts of the enable and pwm forward and backwards |
QingshuZhang | 0:32705e4af4b9 | 8 | //methods : SetSpeed and SetDirection to set speed and set direction |
QingshuZhang | 0:32705e4af4b9 | 9 | |
QingshuZhang | 0:32705e4af4b9 | 10 | class RobotControl |
QingshuZhang | 0:32705e4af4b9 | 11 | { |
QingshuZhang | 0:32705e4af4b9 | 12 | private: |
QingshuZhang | 0:32705e4af4b9 | 13 | |
QingshuZhang | 0:32705e4af4b9 | 14 | DigitalOut m_motorEnable; |
QingshuZhang | 0:32705e4af4b9 | 15 | PwmOut m_motorBw; |
QingshuZhang | 0:32705e4af4b9 | 16 | PwmOut m_motorFw; |
QingshuZhang | 0:32705e4af4b9 | 17 | PwmOut* m_pwmPtr; |
QingshuZhang | 0:32705e4af4b9 | 18 | |
QingshuZhang | 0:32705e4af4b9 | 19 | bool m_prevDir; |
QingshuZhang | 0:32705e4af4b9 | 20 | |
QingshuZhang | 0:32705e4af4b9 | 21 | |
QingshuZhang | 0:32705e4af4b9 | 22 | public: |
QingshuZhang | 0:32705e4af4b9 | 23 | |
QingshuZhang | 0:32705e4af4b9 | 24 | bool m_dir; |
QingshuZhang | 0:32705e4af4b9 | 25 | float m_speed; |
QingshuZhang | 0:32705e4af4b9 | 26 | |
QingshuZhang | 0:32705e4af4b9 | 27 | RobotControl(PinName pin1, PinName pin2, PinName pin3); //initializes the pins, direction and speed |
QingshuZhang | 0:32705e4af4b9 | 28 | |
QingshuZhang | 0:32705e4af4b9 | 29 | void SetDirection(bool dir); //sets direction of robot, forward or backwards |
QingshuZhang | 0:32705e4af4b9 | 30 | void SetSpeed(float speed); //sets speed of robot regardless of direction |
QingshuZhang | 0:32705e4af4b9 | 31 | |
QingshuZhang | 0:32705e4af4b9 | 32 | }; |
QingshuZhang | 0:32705e4af4b9 | 33 | |
QingshuZhang | 0:32705e4af4b9 | 34 | |
QingshuZhang | 0:32705e4af4b9 | 35 | |
QingshuZhang | 0:32705e4af4b9 | 36 | |
QingshuZhang | 0:32705e4af4b9 | 37 | #endif |