Diff: Robot.h

Revision:

0:283fc48ef873

Child:

1:3122058b3a2e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Wed Aug 26 06:21:11 2020 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+#include "mStepper.h"
+
+typedef enum {go = 0,back = 1,left = 2,right = 3, both = 4} Direction; //global enumerator
+typedef enum {CW = 0, CCW = 1} Clock;
+
+class Robot{
+private:
+    float vel; // velocity per max
+    mStepper LM, RM; // left motor, right motor
+    DigitalOut l_enb, r_enb; // left enable pin, right enable pin
+    
+public:
+    Robot(PinName l_dir, PinName l_step, PinName _l_enb, PinName r_dir, PinName r_step, PinName _r_enb);
+    
+    void enable(uint8_t _dir); // enable certain motor
+    void disable(uint8_t _dir); // diable certain motor
+    
+    uint8_t isRun(); // if motor's distance to go is left return true or not return 0
+    
+    void run(uint8_t _dir); // drive motor
+    void run_speed(uint8_t _dir);
+    void stop(uint8_t _dir); // stop motor, direction is left or right or both
+    
+    void move_cm(uint8_t _dir, float _distance_cm); // move constant distance
+    void move_speed(uint8_t _dir, float _vel); // move max speed * percent
+    
+    void turn_deg(uint8_t _dir, float _ang); // robot turn left or right
+    void turn_LM(uint8_t _dir, float _ang, float _vel); // turn only left motor, default percent of velocity is 100%
+    void turn_RM(uint8_t _dir, float _ang, float _vel); // turn only right motor, default percent of velocity is 100%
+};
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