Diff: Car.h

Revision:

0:7676da98b5c1

Child:

8:14e91fdf70e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Car.h	Tue Mar 26 03:27:14 2019 +0000
@@ -0,0 +1,57 @@
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+ 
+#include "mbed.h"
+#include <Motor.h>    // DC motor driver 
+
+struct Car_vector {
+            float speed;
+            float turnCW;
+            };
+
+
+class Car {
+    public:
+        Car(    PinName pwm1, 
+                PinName fwd1, 
+                PinName rev1,
+                PinName pwm2, 
+                PinName fwd2, 
+                PinName rev2
+        );
+        
+        //Sets the speed as a percentage (i.e. 1 = 100% and 0.5 = 50%)
+        void speed(float speed);
+        float speed(void);
+        
+        //Sets the speed difference between the motors
+        // Example 1: if original speed is 50%
+        // turnCW(0.5) => rightMotor @ 25% and leftMotor @ 75%
+        // turnCW(0.1) => rightMotor @ 45% and leftMotor @ 55%
+        //
+        // Example 2: if original speed is 100%
+        // turnCW(0.5) => rightMotor @ 75% and leftMotor @ 100%
+        // turnCW(0.1) => rightMotor @ 95% and leftMotor @ 100%
+        void turnCW(float turn);
+           
+    protected:
+        void    _set_motors(void);
+        float   _clamp_speed(float sp);
+        void    _mlspeed(float sp);
+        void    _mrspeed(float sp);
+        
+        
+        float _car_speed;
+        float _car_turn;
+        PwmOut  _ml_pwm;
+        PwmOut  _mr_pwm;
+        DigitalOut _ml_fwd;
+        DigitalOut _mr_fwd;
+        DigitalOut _ml_rev;
+        DigitalOut _mr_rev;
+ 
+};
+
+
+#endif