VNG bot battle
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?
User | Revision | Line number | New 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_ */ |