Diff: IONMcMotors.h

Revision:

0:0493ecc839e6

Child:

3:7912ab1400c4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IONMcMotors.h	Wed Nov 06 10:57:30 2019 +0000
@@ -0,0 +1,38 @@
+#ifndef IONMCMOTOR_H
+#define IONMCMOTOR_H
+#include "mbed.h"
+#include "RoboClaw.h"
+#include <stdarg.h>
+#ifndef M_PI
+#define M_PI           3.14159265358979323846
+#endif
+
+class IONMcMotors
+{
+public:
+    /** Create RoboClaw instance
+    */
+    IONMcMotors(uint8_t adr, int baudrate, PinName rx, PinName tx, uint16_t GearBoxRatio, uint16_t EncoderPulse, double _Kt_M1, double _Kt_M2);
+    bool setSpeed(int motor, double shaftSpeed, double shaftAcc); // shaftSpeed in rad/s // shaftAcc in rad/s^2
+    double* getState(int motor);
+    double getMotorTorque(int motor);
+    double getMotorSpeed(int motor);
+
+    void resetEncoder();
+
+    
+private:
+
+RoboClaw *roboclaw;
+
+uint16_t GearBoxRatio;
+uint16_t EncoderPulse;
+double speed2Pulse;
+double rads2rps;
+double Kt_M1;
+double Kt_M2;
+double stateM1[3];
+double stateM2[3];    
+};
+
+#endif
\ No newline at end of file