Diff: DCMotorDrive.h

Revision:

3:50495c3c3c37

Parent:

1:0c8cb3439288

Child:

4:b9aafce708b5

--- a/DCMotorDrive.h	Wed Jan 15 11:48:01 2014 +0000
+++ b/DCMotorDrive.h	Tue Jan 21 13:25:59 2014 +0000
@@ -31,36 +31,35 @@
 #include "mbed.h"
 
 #define PWM_PERIOD 20
-#define BUFFER_SIZE 16
 #define MOTOR_STALL_TIME 2
 
 class DCMotorDrive
 {
 public:
-    DCMotorDrive(PinName MotorOut, PinName SensorIn);
+    DCMotorDrive(PinName MotorOut, PinName BrakeOut, PinName SensorIn);
+    void    SetMotorPwm(int PwmValue);
     void    SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions);
     int     GetAveragePulseTime(void);
     int     GetLastPulseTime(void);
+    int     GetRevolutionsLeft(void);
     void    ResetOdometer(void);
     int     ReadOdometer(void);
     int     ReadCaptureTime(void);
-    void    ClearBuffer(void);
 
 private:
     Ticker          timeout;
     Timer           PulseClock;
-    volatile int    ClockBuffer[BUFFER_SIZE];
     volatile int    ClockPointer;
-    volatile int    CaptureTime;
     volatile int    LastPulseTime;
     volatile int    RotationCounter;
     volatile int    RevolutionLimit;
 
     PwmOut          _MotorPin;
+    DigitalOut      _BrakePin;
     InterruptIn     _SensorIn;
     
     void    Counter(void);
     void    Stall(void);
 };
 
-#endif    // _DCMOTORDRIVE_H
+#endif    // _DCMOTORDRIVE_H
\ No newline at end of file