version2
Dependencies: BNO055_fusion mbed
Fork of DEMO2 by
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