Diff: motor/motor.h

Revision:

14:1363e4b2fbac

Parent:

12:e2b7e030193c

Child:

15:5f791bd5dd97

--- a/motor/motor.h	Tue Mar 06 08:35:33 2018 +0000
+++ b/motor/motor.h	Mon Jul 02 07:41:35 2018 +0000
@@ -13,38 +13,40 @@
 class Motor
 {
 public:
-    Motor(PinName p, PinName d, PinName e, char* n, float Tcs, int cw);
+    Motor(PinName p, PinName d, PinName e, char* n, float Tcs, int cw/*, InterruptIn *c, InterruptIn *cc*/);
 // p_us = signal period in micro_seconds
 // dc   = signal duty-cycle (0.0 to 1.0)
     void pwm_io(int p_us, float dc); // not used...
     void go(int direction);
     void setSpeed(float cm_s);
     float speed() {
-        return (float)TXcm_s/(on_delay+off_delay);
+        return (float)_TXcm_s/(_onDelay+_offDelay);
     }
     void reset() {
-        pos=0;
+        _pos=0;
     }
     void to(float p);
     float position() {
-        return pos;
+        return _pos;
     }
     void setPosition(float p) {
-        pos = p;
+        _pos = p;
     }
     void stop(void);
 protected:
     void toggleOn(void);
     void toggleOff(void);
-    Timeout timer;
-    DigitalOut pulse, dir, error;
-    int on_delay;
-    int off_delay;
-    float TXcm_s;
-    char* name;
-    float pos, goal;
-    int cw,ccw;
-    bool lock;
+    void rotateCallBack(void);
+    Timeout _pulseTimeout, _rotateTimeout;
+    DigitalOut _pulse, _dir, _error;
+    int _onDelay;
+    int _offDelay;
+    float _TXcm_s;
+    char* _name;
+    float _pos, _goal;
+    int _cw,_ccw;
+    bool _lock;
+//    InterruptIn *_clockStop, *_counterClockStop;
 };
 
 class CD_2D34M: public Motor