MotorController.h

00001 /*******************************************************************************
00002 * RenBED DC Motor Drive for RenBuggy                                           *
00003 * Copyright (c) 2014 Jon Fuge                                                  *
00004 *                                                                              *
00005 * Permission is hereby granted, free of charge, to any person obtaining a copy *
00006 * of this software and associated documentation files (the "Software"), to deal*
00007 * in the Software without restriction, including without limitation the rights *
00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    *
00009 * copies of the Software, and to permit persons to whom the Software is        *
00010 * furnished to do so, subject to the following conditions:                     *
00011 *                                                                              *
00012 * The above copyright notice and this permission notice shall be included in   *
00013 * all copies or substantial portions of the Software.                          *
00014 *                                                                              *
00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  *
00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       *
00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    *
00021 * THE SOFTWARE.                                                                *
00022 *                                                                              *
00023 * DCMotorDrive.h                                                               *
00024 *                                                                              *
00025 * V1.0 06/01/2014 First issue of code                      Jon Fuge            *
00026 *******************************************************************************/
00027 
00028 #ifndef _DCMOTORCONTROLLER_H
00029 #define _DCMOTORCONTROLLER_H
00030 
00031 #include "mbed.h"
00032 #include "DCMotorDrive.h"
00033 
00034 #define WHEEL_CIRCUMFERENCE 114.4
00035 #define COUNTS_PER_ROTATION 64
00036 #define PWM_SPEED_ADJUST 20
00037 #define ROTATION_LIMIT 20
00038 
00039 class MotorController
00040 {
00041 public:
00042     MotorController(PinName LMotorOut, PinName LBrakeOut, PinName LSensorIn, PinName LMotorOut, PinName RBrakeOut, PinName LSensorIn);
00043     void    Forwards(int ForwardCount);
00044     void    ResetOdometer(void);
00045     int     ReadOdometer(void);
00046     int     ReadLeftOdometer(void);
00047     int     ReadRightOdometer(void);
00048 private:
00049     DCMotorDrive    _LeftMotor;
00050     DCMotorDrive    _RightMotor;
00051     int             LeftMotorSpeed;
00052     int             RightMotorSpeed;
00053     int             LeftToRightRatio;
00054     int             DistanceToTravel;
00055     Ticker          trackomatic;
00056     
00057     void    MatchSpeeds(void);
00058     void    UpdatePwms(void);
00059 };
00060 
00061 #endif    // _DCMOTORCONTROLLER_H