Thomas Giraud-Sauveur / Mbed 2 deprecated Gimbal_ENSEA

pour simone

Dependencies:   MPU6050 mbed

mycontroller.h

Committer:
ThomasGS
Date:
2016-06-03
Revision:
2:146ff0747375
Parent:
0:63c6db89607f

File content as of revision 2:146ff0747375:

#ifndef MYCONTROLLER_H
#define MYCONTROLLER_H

#include "mbed.h"

class brushlessservo
{
    public:
        brushlessservo(PwmOut &p_pwm1,PwmOut &p_pwm2,PwmOut &p_pwm3,DigitalOut &p_enableA,DigitalOut &p_enableB);
        //brushlessservo();
        void gotothetha(int theta);
        void updatepwm();
        void test();
        
    private:
        DigitalOut &enableA,&enableB;
        PwmOut pwm[3];
        PwmOut &pwm1, &pwm2, &pwm3;
        int32_t realtheta;
        int32_t targettheta;
        int32_t phase[3];
        bool direction;
        int sineArraySize;
        
};


#endif