Deze moet je hebben Menner Dennis
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motorDriver.h
00001 #include "mbed.h" 00002 #include <ros.h> 00003 #include <std_msgs/Float64.h> 00004 #include <string> 00005 #include "rtos.h" 00006 00007 00008 class motorDriver{ 00009 00010 public: 00011 motorDriver(PinName Left1, PinName Left2, PinName Right1, PinName Right2, PinName PWML, PinName PWMR/*, PinName spdReadL, PinName spdReadR, PinName Bat*/); 00012 00013 //Direction functions: Subscribe and Set 00014 // void subDirection(); 00015 void setDirection(bool keyForward, bool keyBackward, bool keyLeft, bool keyRight); // fwd bck, lft,rght 00016 00017 00018 // Get and publish speed information to the Raspberry Pi 00019 // void getSpeedL(); 00020 // void getSpeedR(); 00021 00022 // void getBattery(); 00023 00024 //get and publish current information to the Raspberry Pi 00025 // void getCurrent(); 00026 // void pubCurrent(); 00027 00028 00029 00030 protected: 00031 00032 DigitalOut speedLeft1; 00033 DigitalOut speedLeft2; 00034 DigitalOut speedRight1; 00035 DigitalOut speedRight2; 00036 00037 PwmOut pwmL; 00038 PwmOut pwmR; 00039 00040 //DigitalIn speedReadL; 00041 //DigitalIn speedReadR; 00042 00043 //AnalogIn BatteryRead; 00044 00045 bool keyForward; 00046 bool keyBackward; 00047 bool keyLeft; 00048 bool keyRight; 00049 00050 00051 //ros::NodeHandle nh; 00052 //std_msgs::Float64 value_msg; 00053 //float currentLeft; 00054 //float currentRight; 00055 00056 };
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