Diff: motor.h

Revision:

1:c97f8bcd6c0f

Parent:

0:5cafacc2a607

Child:

2:3faf5dcde08f

--- a/motor.h	Mon Jul 29 20:25:33 2013 +0000
+++ b/motor.h	Sat Aug 31 15:58:46 2013 +0000
@@ -2,24 +2,37 @@
 #define MOTOR_H
 
 #include "mbed.h"
+#include "PCA9555.h"
+#include "qed.h"
  
 class Motor {
 public:
-    Motor(PinName PWMpin, PinName dir1Pin, PinName dir2Pin);
+    Motor(PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB);
  
+    void setPWM(float newPWM);
     void setSpeed(int newSpeed);
     int getSpeed();
+    void pid();
  
 private:
-    void pid();
-
-    InterruptIn interruptA;
-    InterruptIn interruptB;
+    PwmOut pwm;
+    PCA9555 *extIO;
+    unsigned int dir1;
+    unsigned int dir2;
+    QED qed;
+    
+    int currentSpeed;
+    int getDecoderCount();
     
-    volatile int pulses;
+    //void pid();
     
-    int prevState;
-    int currState;
+    int setPoint;
+    float pMulti;
+    float iMulti;
+    int error;
+    int prevError;
+    float P;
+    float I;
 };
 
 #endif
\ No newline at end of file