Eduardo Munoz Gutierrez / Mbed OS mbed-os-micromouse

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Dependencies:   Motor

Diff: Car.h

Revision:
8:14e91fdf70e8
Parent:
0:7676da98b5c1
diff -r d16faa6d7713 -r 14e91fdf70e8 Car.h
--- a/Car.h	Wed Apr 10 02:16:32 2019 +0000
+++ b/Car.h	Fri May 24 03:40:06 2019 +0000
@@ -16,12 +16,16 @@
         Car(    PinName pwm1, 
                 PinName fwd1, 
                 PinName rev1,
+                PinName encoderA1,
+                PinName encoderB1,
                 PinName pwm2, 
                 PinName fwd2, 
-                PinName rev2
+                PinName rev2,
+                PinName encoderA2,
+                PinName encoderB2
         );
         
-        //Sets the speed as a percentage (i.e. 1 = 100% and 0.5 = 50%)
+        //Sets the speed as thicks per second(i.e. 1 = 100% and 0.5 = 50%)
         void speed(float speed);
         float speed(void);
         
@@ -40,10 +44,21 @@
         float   _clamp_speed(float sp);
         void    _mlspeed(float sp);
         void    _mrspeed(float sp);
-        
+
         
         float _car_speed;
         float _car_turn;
+        
+        time_t _last_tick_left;
+        time_t _last_tick_right;
+        DigitalIn   _ml_encoderA;
+        DigitalIn   _ml_encoderB;
+        DigitalIn   _mr_encoderA;
+        DigitalIn   _mr_encoderB;
+        bool    _ml_encoderA_before;
+        bool    _ml_encoderB_before;
+        bool    _mr_encoderA_before;
+        bool    _mr_encoderB_before;
         PwmOut  _ml_pwm;
         PwmOut  _mr_pwm;
         DigitalOut _ml_fwd;