MD03.h

00001 /*
00002  */
00003 #include "mbed.h"
00004  
00005 #ifndef  MD03_H
00006 #define  MD03_H
00007  
00008 /*
00009  * list of registers
00010  */
00011 #define MD03_COMMAND           0x00
00012 #define MD03_STATUS            0x01
00013 #define MD03_SPEED             0x02
00014 #define MD03_ACCELERATION      0x03
00015 #define MD03_TEMPERATURE       0x04
00016 #define MD03_MOTOR_CURRENT     0x05
00017 #define MD03_SOFTWARE_REV      0x07
00018 /*
00019  * list of command that can be sent to command register
00020  */
00021 #define MD03_CMD_STOP       0x00
00022 #define MD03_CMD_FORWARD    0x01
00023 #define MD03_CMD_REVERSE    0x02
00024 
00025 class MD03 {
00026 public:
00027      MD03(PinName sda, PinName scl, int i2cAddress);
00028      
00029      void set_speed(int speed);
00030      void set_accel(int acceleration);
00031      void stop(void);
00032      void move_forward(void);
00033      void move_reverse(void);
00034      char read_reg(int register);
00035      
00036 protected:
00037      I2C _i2c;
00038      char address;
00039      char _writeOpcode, _readOpcode;
00040  };
00041  
00042  #endif
00043