MotorController.h

00001 /*
00002  * MotorController.h
00003  *
00004  *  Created on: Aug 23, 2016
00005  *      Author: tanpt
00006  */
00007 
00008 #ifndef MOTORCONTROLLER_H_
00009 #define MOTORCONTROLLER_H_
00010 
00011 #include "common.h"
00012 
00013 class MotorController {
00014 public:
00015     enum Direction {
00016         DIRECTION_FORWARD = 0,
00017         DIRECTION_BACKWARD = 1
00018     };
00019 
00020     enum BoostState {
00021         BOOST_DISABLE = 0,
00022         BOOST_ENBALE = 1
00023     };
00024 
00025     MotorController();
00026     ~MotorController();
00027 
00028     int8_t setMotorRight(Direction direction, uint16_t speed);
00029 
00030     int8_t setMotorLeft(Direction direction, uint16_t speed);
00031 
00032     int8_t moveForward(uint16_t speed);
00033 
00034     int8_t moveBackward(uint16_t speed);
00035 
00036     int8_t turnRight(uint16_t speed);
00037 
00038     int8_t turnLeft(uint16_t speed);
00039 
00040     int8_t moveBackRight(uint16_t speed);
00041 
00042     int8_t moveBackLeft(uint16_t speed);
00043 
00044     int8_t setBoost(BoostState state);
00045 
00046 private:
00047     static DigitalOut  motorLeftDirection_;
00048     static PwmOut      motorLeftSpeed_;
00049     static DigitalOut  motorRightDirection_;
00050     static PwmOut      motorRightSpeed_;
00051 
00052     static DigitalOut motorBoostSpeed_;
00053 };
00054 
00055 #endif /* MOTORCONTROLLER_H_ */