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Dependencies: BMP280 BNO055_fusion PowerControl mbed
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LOCOMOTION.h
- Committer:
- 12104404
- Date:
- 2016-04-03
- Revision:
- 19:2dd81b864e14
- Parent:
- 18:f9012e93edb8
- Child:
- 23:455f7da3dd7a
File content as of revision 19:2dd81b864e14:
#ifndef LOCOMOTION_H #define LOCOMOTION_H #include "mbed.h" #include "LOCALIZE.h" #define SPEED_TURN_MIN 0.20 #define SPEED_TURN_MAX 0.65 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 setXPos(int target, int current, int error, int angle); bool setYPos(int target, int current, int error, int angle); bool setAngle(int target, int current, int error, int mode); void stopMotors(void); inline int wrap(int num); protected: float s; }; #endif