Old working code
Dependencies: mbed QEI ros_lib_melodic
Motor.h
00001 #include "mbed.h" 00002 #include <string> 00003 00004 #include "QEI.h" 00005 00006 class Motor{ 00007 00008 public: 00009 /** Constructor 00010 * Create a motor object 00011 * 00012 * @param in1 TB6612 IN1 pin number 00013 * @param in2 TB6612 IN2 pin number 00014 * @param pwm TB6612 PWM pin number 00015 */ 00016 Motor(PinName in1, PinName in2, PinName pwm); 00017 00018 /** Stop the motor 00019 * 00020 */ 00021 void stop(); 00022 00023 /** Set the speed 00024 * 00025 * @param speed value to set 00026 */ 00027 void setSpeed(float speed); 00028 00029 00030 void Motor::move(int in1, int in2); 00031 00032 private: 00033 DigitalOut in1; 00034 DigitalOut in2; 00035 PwmOut pwm; 00036 };
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