Utility class for controlling a servo system motor.
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MotorController.h
00001 #ifndef MOTORCONTROLLER_H 00002 #define MOTORCONTROLLER_H 00003 00004 #include "mbed.h" 00005 #include "HBridge.h" 00006 00007 class MotorController { 00008 public: 00009 MotorController (HBridge &motor, AnalogIn &motorInput); 00010 00011 void start (); 00012 void stop (); 00013 00014 void turnLeft (); 00015 void turnRight (); 00016 void setPosition (float position); 00017 00018 float getPosition (); 00019 00020 static const float POSITION_0 = 0.5f; 00021 static const float POSITION_1 = 1.2f; 00022 static const float POSITION_2 = 3.6f; 00023 static const float POSITION_3 = 9.7f; 00024 static const float POSITION_4 = 17.5f; 00025 static const float POSITION_5 = 25.0f; 00026 static const float POSITION_6 = 33.0f; 00027 static const float POSITION_7 = 47.7f; 00028 static const float POSITION_8 = 80.0f; 00029 static const float POSITION_9 = 100.0f; 00030 static const float POSITION_10 = 100.0f; 00031 00032 private: 00033 HBridge &motor; 00034 AnalogIn &motorInput; 00035 }; 00036 00037 #endif
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