Diff: DCMotorDrive.h

Revision:

1:0c8cb3439288

Parent:

0:34800070e9dc

Child:

2:5239659649d1

Child:

3:50495c3c3c37

--- a/DCMotorDrive.h	Tue Jan 14 10:45:19 2014 +0000
+++ b/DCMotorDrive.h	Wed Jan 15 11:48:01 2014 +0000
@@ -30,33 +30,31 @@
 
 #include "mbed.h"
 
-#define WHEEL_CIRCUMFERENCE 114.4
-#define COUNTS_PER_ROTATION 64
-#define PWM_SPEED_ADJUST 20
-#define ROTATION_LIMIT 20
 #define PWM_PERIOD 20
-#define PWM_PERIOD_US PWM_PERIOD * 1000
+#define BUFFER_SIZE 16
 #define MOTOR_STALL_TIME 2
-#define CAL_SPEED 80 // CalSpeed is 80 mm/s
-#define TWO_SECONDS 2000000
-#define US_IN_SECONDS 1000000
 
 class DCMotorDrive
 {
 public:
     DCMotorDrive(PinName MotorOut, PinName SensorIn);
-    void    SetMotorPwm(int PwmValue);
+    void    SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions);
     int     GetAveragePulseTime(void);
+    int     GetLastPulseTime(void);
     void    ResetOdometer(void);
     int     ReadOdometer(void);
+    int     ReadCaptureTime(void);
     void    ClearBuffer(void);
 
 private:
     Ticker          timeout;
     Timer           PulseClock;
-    volatile int    ClockBuffer[16];
+    volatile int    ClockBuffer[BUFFER_SIZE];
     volatile int    ClockPointer;
+    volatile int    CaptureTime;
+    volatile int    LastPulseTime;
     volatile int    RotationCounter;
+    volatile int    RevolutionLimit;
 
     PwmOut          _MotorPin;
     InterruptIn     _SensorIn;