TDPS3
Dependencies: mbed HC_SR04_Ultrasonic_Library
RobotControl_H.h@1:60ad9c191ea9, 2019-03-14 (annotated)
- Committer:
- QingshuZhang
- Date:
- Thu Mar 14 14:37:20 2019 +0000
- Revision:
- 1:60ad9c191ea9
- Parent:
- 0:aed6099bd419
TDPS3;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
QingshuZhang | 0:aed6099bd419 | 1 | #ifndef RobotControl_H |
QingshuZhang | 0:aed6099bd419 | 2 | #define RobotControl_H |
QingshuZhang | 0:aed6099bd419 | 3 | |
QingshuZhang | 0:aed6099bd419 | 4 | #include <mbed.h> |
QingshuZhang | 0:aed6099bd419 | 5 | |
QingshuZhang | 0:aed6099bd419 | 6 | //RobotControl is used to control the direction and speed of the robot |
QingshuZhang | 0:aed6099bd419 | 7 | //attributes : the pinouts of the enable and pwm forward and backwards |
QingshuZhang | 0:aed6099bd419 | 8 | //methods : SetSpeed and SetDirection to set speed and set direction |
QingshuZhang | 0:aed6099bd419 | 9 | |
QingshuZhang | 0:aed6099bd419 | 10 | class RobotControl |
QingshuZhang | 0:aed6099bd419 | 11 | { |
QingshuZhang | 0:aed6099bd419 | 12 | private: |
QingshuZhang | 0:aed6099bd419 | 13 | |
QingshuZhang | 0:aed6099bd419 | 14 | DigitalOut m_motorEnable; |
QingshuZhang | 0:aed6099bd419 | 15 | PwmOut m_motorBw; |
QingshuZhang | 0:aed6099bd419 | 16 | PwmOut m_motorFw; |
QingshuZhang | 0:aed6099bd419 | 17 | PwmOut* m_pwmPtr; |
QingshuZhang | 0:aed6099bd419 | 18 | |
QingshuZhang | 0:aed6099bd419 | 19 | bool m_prevDir; |
QingshuZhang | 0:aed6099bd419 | 20 | |
QingshuZhang | 0:aed6099bd419 | 21 | |
QingshuZhang | 0:aed6099bd419 | 22 | public: |
QingshuZhang | 0:aed6099bd419 | 23 | |
QingshuZhang | 0:aed6099bd419 | 24 | bool m_dir; |
QingshuZhang | 0:aed6099bd419 | 25 | float m_speed; |
QingshuZhang | 0:aed6099bd419 | 26 | |
QingshuZhang | 0:aed6099bd419 | 27 | RobotControl(PinName pin1, PinName pin2, PinName pin3); //initializes the pins, direction and speed |
QingshuZhang | 0:aed6099bd419 | 28 | |
QingshuZhang | 0:aed6099bd419 | 29 | void SetDirection(bool dir); //sets direction of robot, forward or backwards |
QingshuZhang | 0:aed6099bd419 | 30 | void SetSpeed(float speed); //sets speed of robot regardless of direction |
QingshuZhang | 0:aed6099bd419 | 31 | |
QingshuZhang | 0:aed6099bd419 | 32 | }; |
QingshuZhang | 0:aed6099bd419 | 33 | |
QingshuZhang | 0:aed6099bd419 | 34 | |
QingshuZhang | 0:aed6099bd419 | 35 | |
QingshuZhang | 0:aed6099bd419 | 36 | |
QingshuZhang | 0:aed6099bd419 | 37 | #endif |