Diff: motor.h

Revision:

5:99fa6dffea40

Parent:

3:94db629c0a83

Child:

6:37199f371bf8

--- a/motor.h	Sat Sep 14 17:18:51 2013 +0000
+++ b/motor.h	Mon Sep 16 17:53:13 2013 +0000
@@ -6,6 +6,9 @@
 #include "qed.h"
  
 class Motor {
+protected:
+    FunctionPointer stallWarningCallback;
+    FunctionPointer stallErrorCallback;
 public:
     Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB);
  
@@ -13,6 +16,20 @@
     void setSpeed(int newSpeed);
     int getSpeed();
     void pid();
+    
+    void stallWarning(void (*function)(void));
+    
+    template<typename T>
+    void stallWarning(T *object, void (T::*member)(void)) { 
+        stallWarningCallback.attach(object, member); 
+    }
+    
+    void stallError(void (*function)(void));
+    
+    template<typename T>
+    void stallError(T *object, void (T::*member)(void)) { 
+        stallErrorCallback.attach(object, member); 
+    }
  
 private:
     PwmOut pwm;
@@ -26,8 +43,6 @@
     
     void resetPID();
     
-    //void pid();
-    
     int setPoint;
     int pMulti;
     int iDiv;
@@ -40,6 +55,10 @@
     int minPwm;
     int pidMulti;
     int iMax;
+    
+    int currentPWM;
+    int stallCounter;
+    int stallCounterLimit;
 };
 
 #endif
\ No newline at end of file