Diff: MotorController.h

Revision:

0:122d7bf3bbf0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorController.h	Mon Sep 05 19:55:23 2016 +0000
@@ -0,0 +1,55 @@
+/*
+ * MotorController.h
+ *
+ *  Created on: Aug 23, 2016
+ *      Author: tanpt
+ */
+
+#ifndef MOTORCONTROLLER_H_
+#define MOTORCONTROLLER_H_
+
+#include "common.h"
+
+class MotorController {
+public:
+    enum Direction {
+        DIRECTION_FORWARD = 0,
+        DIRECTION_BACKWARD = 1
+    };
+
+    enum BoostState {
+        BOOST_DISABLE = 0,
+        BOOST_ENBALE = 1
+    };
+
+    MotorController();
+    ~MotorController();
+
+    int8_t setMotorRight(Direction direction, uint16_t speed);
+
+    int8_t setMotorLeft(Direction direction, uint16_t speed);
+
+    int8_t moveForward(uint16_t speed);
+
+    int8_t moveBackward(uint16_t speed);
+
+    int8_t turnRight(uint16_t speed);
+
+    int8_t turnLeft(uint16_t speed);
+
+    int8_t moveBackRight(uint16_t speed);
+
+    int8_t moveBackLeft(uint16_t speed);
+
+    int8_t setBoost(BoostState state);
+
+private:
+    static DigitalOut  motorLeftDirection_;
+    static PwmOut      motorLeftSpeed_;
+    static DigitalOut  motorRightDirection_;
+    static PwmOut      motorRightSpeed_;
+
+    static DigitalOut motorBoostSpeed_;
+};
+
+#endif /* MOTORCONTROLLER_H_ */