Tan Pham / Mbed 2 deprecated binbot

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Dependencies:   BLE_API mbed nRF51822

MotorController.h@0:122d7bf3bbf0, 2016-09-05 (annotated)

Committer:
bintech91
Date:
Mon Sep 05 19:55:23 2016 +0000
Revision:
0:122d7bf3bbf0
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bintech91 0:122d7bf3bbf0 1 /*
bintech91 0:122d7bf3bbf0 2 * MotorController.h
bintech91 0:122d7bf3bbf0 3 *
bintech91 0:122d7bf3bbf0 4 * Created on: Aug 23, 2016
bintech91 0:122d7bf3bbf0 5 * Author: tanpt
bintech91 0:122d7bf3bbf0 6 */
bintech91 0:122d7bf3bbf0 7
bintech91 0:122d7bf3bbf0 8 #ifndef MOTORCONTROLLER_H_
bintech91 0:122d7bf3bbf0 9 #define MOTORCONTROLLER_H_
bintech91 0:122d7bf3bbf0 10
bintech91 0:122d7bf3bbf0 11 #include "common.h"
bintech91 0:122d7bf3bbf0 12
bintech91 0:122d7bf3bbf0 13 class MotorController {
bintech91 0:122d7bf3bbf0 14 public:
bintech91 0:122d7bf3bbf0 15 enum Direction {
bintech91 0:122d7bf3bbf0 16 DIRECTION_FORWARD = 0,
bintech91 0:122d7bf3bbf0 17 DIRECTION_BACKWARD = 1
bintech91 0:122d7bf3bbf0 18 };
bintech91 0:122d7bf3bbf0 19
bintech91 0:122d7bf3bbf0 20 enum BoostState {
bintech91 0:122d7bf3bbf0 21 BOOST_DISABLE = 0,
bintech91 0:122d7bf3bbf0 22 BOOST_ENBALE = 1
bintech91 0:122d7bf3bbf0 23 };
bintech91 0:122d7bf3bbf0 24
bintech91 0:122d7bf3bbf0 25 MotorController();
bintech91 0:122d7bf3bbf0 26 ~MotorController();
bintech91 0:122d7bf3bbf0 27
bintech91 0:122d7bf3bbf0 28 int8_t setMotorRight(Direction direction, uint16_t speed);
bintech91 0:122d7bf3bbf0 29
bintech91 0:122d7bf3bbf0 30 int8_t setMotorLeft(Direction direction, uint16_t speed);
bintech91 0:122d7bf3bbf0 31
bintech91 0:122d7bf3bbf0 32 int8_t moveForward(uint16_t speed);
bintech91 0:122d7bf3bbf0 33
bintech91 0:122d7bf3bbf0 34 int8_t moveBackward(uint16_t speed);
bintech91 0:122d7bf3bbf0 35
bintech91 0:122d7bf3bbf0 36 int8_t turnRight(uint16_t speed);
bintech91 0:122d7bf3bbf0 37
bintech91 0:122d7bf3bbf0 38 int8_t turnLeft(uint16_t speed);
bintech91 0:122d7bf3bbf0 39
bintech91 0:122d7bf3bbf0 40 int8_t moveBackRight(uint16_t speed);
bintech91 0:122d7bf3bbf0 41
bintech91 0:122d7bf3bbf0 42 int8_t moveBackLeft(uint16_t speed);
bintech91 0:122d7bf3bbf0 43
bintech91 0:122d7bf3bbf0 44 int8_t setBoost(BoostState state);
bintech91 0:122d7bf3bbf0 45
bintech91 0:122d7bf3bbf0 46 private:
bintech91 0:122d7bf3bbf0 47 static DigitalOut motorLeftDirection_;
bintech91 0:122d7bf3bbf0 48 static PwmOut motorLeftSpeed_;
bintech91 0:122d7bf3bbf0 49 static DigitalOut motorRightDirection_;
bintech91 0:122d7bf3bbf0 50 static PwmOut motorRightSpeed_;
bintech91 0:122d7bf3bbf0 51
bintech91 0:122d7bf3bbf0 52 static DigitalOut motorBoostSpeed_;
bintech91 0:122d7bf3bbf0 53 };
bintech91 0:122d7bf3bbf0 54
bintech91 0:122d7bf3bbf0 55 #endif /* MOTORCONTROLLER_H_ */