Class for controlling motors trough PCA9555. More...

#include <motor.h>

Public Member Functions
	Motor (PinName PWMpin, PCA9555 *ioExt, unsigned int dir1Pin, unsigned int dir2Pin, PinName encA, PinName encB)
	Create an instance of the motor connected to specfied pins, and IO-expander.
void	setSpeed (int newSpeed)
	Set speed setpoint.
int	getSpeed ()
	Get current speed setpoint value.
void	pid ()
	Method that calculates appropriate PWM values for keeping motor speed close to setpoint This method shoud be called periodically (60Hz)

Detailed Description

Class for controlling motors trough PCA9555.

Definition at line 8 of file motor.h.

Constructor & Destructor Documentation

Create an instance of the motor connected to specfied pins, and IO-expander.

Parameters:

PWMpin	Pin for PWM output
*ioExt	Pointer to IO-expander object
dir1Pin	Direction pin 1 number (on IO-expander)
dir2Pin	Direction pin 2 number (on IO-expander)
encA	Encoder pin
encB	Encoder pin

Definition at line 3 of file motor.cpp.

int getSpeed ( )

Get current speed setpoint value.

Definition at line 44 of file motor.cpp.

void pid ( )

Method that calculates appropriate PWM values for keeping motor speed close to setpoint This method shoud be called periodically (60Hz)

Definition at line 60 of file motor.cpp.

void setSpeed ( int newSpeed )

Set speed setpoint.

Parameters:

newSpeed New setpoint

Definition at line 53 of file motor.cpp.