tarou yamada / I2CMotor

Dependents:   RobotBase

I2CMotor.h@1:46cf8d086b38, 2015-08-21 (annotated)

Committer:
inst
Date:
Fri Aug 21 04:51:31 2015 +0000
Revision:
1:46cf8d086b38
Parent:
0:89910534fad4
Child:
2:5b17e7dffb3d
y evol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:89910534fad4 1 #ifndef INCLUDED_I2C_MOTOR_H
inst 0:89910534fad4 2 #define INCLUDED_I2C_MOTOR_H
inst 0:89910534fad4 3
inst 0:89910534fad4 4 #include "I2CDevice.h"
inst 0:89910534fad4 5 #include "mbed.h"
inst 0:89910534fad4 6
inst 0:89910534fad4 7 class I2CMotor : public I2CDevice{
inst 0:89910534fad4 8 public:
inst 0:89910534fad4 9 enum ActionType{
inst 1:46cf8d086b38 10 FORWARD,
inst 1:46cf8d086b38 11 REVERSE,
inst 1:46cf8d086b38 12 BRAKE,
inst 0:89910534fad4 13 RELEASE,
inst 0:89910534fad4 14 };
inst 1:46cf8d086b38 15 I2CMotor( char address );
inst 0:89910534fad4 16
inst 0:89910534fad4 17 void setActionType( ActionType action ){
inst 0:89910534fad4 18 mActionType = action;
inst 0:89910534fad4 19 }
inst 0:89910534fad4 20 void setDuty( float duty ){
inst 1:46cf8d086b38 21 if ( duty > mMaxDuty ){
inst 1:46cf8d086b38 22 duty = mMaxDuty;
inst 1:46cf8d086b38 23 } else if ( duty < mMinDuty ){
inst 1:46cf8d086b38 24 duty = mMinDuty;
inst 0:89910534fad4 25 }
inst 0:89910534fad4 26
inst 0:89910534fad4 27 mDuty = duty;
inst 0:89910534fad4 28 }
inst 1:46cf8d086b38 29 ActionType getActionType() const{
inst 0:89910534fad4 30 return mActionType;
inst 0:89910534fad4 31 }
inst 1:46cf8d086b38 32 float getDuty() const{
inst 0:89910534fad4 33 return mDuty;
inst 0:89910534fad4 34 }
inst 0:89910534fad4 35
inst 1:46cf8d086b38 36 float getMaxDuty() const{
inst 0:89910534fad4 37 return mMaxDuty;
inst 0:89910534fad4 38 }
inst 1:46cf8d086b38 39 float getMinDuty() const{
inst 0:89910534fad4 40 return mMinDuty;
inst 0:89910534fad4 41 }
inst 0:89910534fad4 42
inst 0:89910534fad4 43 protected:
inst 0:89910534fad4 44 virtual void write();
inst 0:89910534fad4 45 virtual void read(){}
inst 0:89910534fad4 46 private:
inst 0:89910534fad4 47 ActionType mActionType;
inst 0:89910534fad4 48 float mDuty;
inst 0:89910534fad4 49
inst 0:89910534fad4 50 float mMaxDuty;
inst 0:89910534fad4 51 float mMinDuty;
inst 0:89910534fad4 52 };
inst 0:89910534fad4 53
inst 0:89910534fad4 54 #endif