Alex Pirciu
/
BFMC
a
include/Move/move.hpp@1:ceee5a608e7c, 2019-03-28 (annotated)
- Committer:
- alexpirciu
- Date:
- Thu Mar 28 07:44:42 2019 +0000
- Revision:
- 1:ceee5a608e7c
assa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alexpirciu | 1:ceee5a608e7c | 1 | /** |
alexpirciu | 1:ceee5a608e7c | 2 | ****************************************************************************** |
alexpirciu | 1:ceee5a608e7c | 3 | * @file MOVE.hpp |
alexpirciu | 1:ceee5a608e7c | 4 | * @author RBRO/PJ-IU |
alexpirciu | 1:ceee5a608e7c | 5 | * @version V1.0.0 |
alexpirciu | 1:ceee5a608e7c | 6 | * @date day-month-year |
alexpirciu | 1:ceee5a608e7c | 7 | * @brief This file contains the class declaration for the moving |
alexpirciu | 1:ceee5a608e7c | 8 | * functionality. |
alexpirciu | 1:ceee5a608e7c | 9 | ****************************************************************************** |
alexpirciu | 1:ceee5a608e7c | 10 | */ |
alexpirciu | 1:ceee5a608e7c | 11 | |
alexpirciu | 1:ceee5a608e7c | 12 | /* Include guard */ |
alexpirciu | 1:ceee5a608e7c | 13 | #ifndef MOVE_HPP |
alexpirciu | 1:ceee5a608e7c | 14 | #define MOVE_HPP |
alexpirciu | 1:ceee5a608e7c | 15 | |
alexpirciu | 1:ceee5a608e7c | 16 | #include <Drivers/servo.hpp> |
alexpirciu | 1:ceee5a608e7c | 17 | #include <Drivers/vnh.hpp> |
alexpirciu | 1:ceee5a608e7c | 18 | |
alexpirciu | 1:ceee5a608e7c | 19 | /** |
alexpirciu | 1:ceee5a608e7c | 20 | * @brief Move class |
alexpirciu | 1:ceee5a608e7c | 21 | * It is used for executing move commands. |
alexpirciu | 1:ceee5a608e7c | 22 | * |
alexpirciu | 1:ceee5a608e7c | 23 | */ |
alexpirciu | 1:ceee5a608e7c | 24 | class Move |
alexpirciu | 1:ceee5a608e7c | 25 | { |
alexpirciu | 1:ceee5a608e7c | 26 | public: |
alexpirciu | 1:ceee5a608e7c | 27 | /* Constructor */ |
alexpirciu | 1:ceee5a608e7c | 28 | Move(PinName, PinName, PinName, PinName, PinName);//A0 |
alexpirciu | 1:ceee5a608e7c | 29 | /* Destructor */ |
alexpirciu | 1:ceee5a608e7c | 30 | ~Move(); |
alexpirciu | 1:ceee5a608e7c | 31 | /* Steer */ |
alexpirciu | 1:ceee5a608e7c | 32 | void Steer(float angle);// -25 to + 25 degrees, - (left), + (right) |
alexpirciu | 1:ceee5a608e7c | 33 | /* Speed */ |
alexpirciu | 1:ceee5a608e7c | 34 | void Speed(float speed);//-100 to + 100 -(back), + (front) |
alexpirciu | 1:ceee5a608e7c | 35 | /* Brake */ |
alexpirciu | 1:ceee5a608e7c | 36 | void Brake(); |
alexpirciu | 1:ceee5a608e7c | 37 | /* Inverse */ |
alexpirciu | 1:ceee5a608e7c | 38 | void Inverse(float f_speed); |
alexpirciu | 1:ceee5a608e7c | 39 | /* Test */ |
alexpirciu | 1:ceee5a608e7c | 40 | void TestCar(); |
alexpirciu | 1:ceee5a608e7c | 41 | /* Reset */ |
alexpirciu | 1:ceee5a608e7c | 42 | void ResetCar(); |
alexpirciu | 1:ceee5a608e7c | 43 | /* Return bridge object */ |
alexpirciu | 1:ceee5a608e7c | 44 | drivers::VNH& getVNH(); |
alexpirciu | 1:ceee5a608e7c | 45 | |
alexpirciu | 1:ceee5a608e7c | 46 | private: |
alexpirciu | 1:ceee5a608e7c | 47 | /* Servo pbject */ |
alexpirciu | 1:ceee5a608e7c | 48 | drivers::SERVO servo; |
alexpirciu | 1:ceee5a608e7c | 49 | /* Bridge object */ |
alexpirciu | 1:ceee5a608e7c | 50 | drivers::VNH vnh; |
alexpirciu | 1:ceee5a608e7c | 51 | }; |
alexpirciu | 1:ceee5a608e7c | 52 | |
alexpirciu | 1:ceee5a608e7c | 53 | #endif |