Aditya Mehrotra / MotorShield

Motor Shield Example code for 2.74 Class @ MIT

Dependents:   experiment_example motor_shield_example Lab3_experiment_example jumping_leg_clicky

MotorShield.h

Committer:
elijahsj
Date:
2020-08-25
Revision:
1:4c3c2b7337a6
Parent:
0:f2ede00aed8a
Child:
3:2f46953e7c8b

File content as of revision 1:4c3c2b7337a6:

/* Library to interface with 2.74 Motor Shield
** Uses a modified version of FastPWM library to improve PWM accuracy 
*/



class MotorShield {
    
    public:
    
    /** Receives two PinName variables.
     * @param echoPin mbed pin to which the echo signal is connected to
     * @param triggerPin mbed pin to which the trigger signal is connected to
     */
    MotorShield(PinName forwardPin, PinName reversePin);
    
    /** Calculates the distance in cm, with the calculation time of 25 ms.
     * @returns distance of the measuring object in cm.
     */
    void write(double duty_cycle);
    void period(double period);
    void direction(int direction);
    
    private:
    
    int direction_val;
    double duty_cycle_val;
    double period_val;
    
    void init();
    void writePWM();
};