Antoine Laurens / Mbed 2 deprecated DEMO22

version2

Dependencies:   BNO055_fusion mbed

Fork of DEMO2 by Antoine Laurens

LOCOMOTION.h

Committer:
12104404
Date:
2016-03-24
Revision:
15:7729da55873a
Parent:
6:0602a9e8118b
Child:
16:d6f15a13c3aa

File content as of revision 15:7729da55873a:

#ifndef LOCOMOTION_H
#define LOCOMOTION_H

#include "mbed.h"

#define SPEED_TURN_MIN  0.15
#define SPEED_TURN_MAX  0.35

enum {
    ANGLE_TURN  = 0,
    ANGLE_BIAS  = 1,
};

class LOCOMOTION
{
public:
    LOCOMOTION(PinName motor1F, PinName motor1B,PinName motor2F, PinName motor2B, PinName forward1, PinName forward2);
    PwmOut _m1f;
    PwmOut _m1b;
    PwmOut _m2f;
    PwmOut _m2b;
    DigitalOut _m1dir;
    DigitalOut _m2dir;
    bool setAngle(int target, int current, int error, int mode);
    int wrap(int num);

protected:

};
#endif