DCMotor.h

00001 #ifndef MBED_DCMOTOR_H
00002 #define MBED_DCMOTOR_H
00003 
00004 #include "mbed.h"
00005 
00006 /**DC motor control class with PWM control
00007 *
00008 * Example:
00009 * @code
00010 * 
00011 * #include "mbed.h"
00012 * #include "DCMotor.h"
00013 * 
00014 * DCMotor a(p21,p22,p23);
00015 * DCMotor b(p24,p25,p26);
00016 * int main() {
00017 *     a.driveIt(50);
00018 *     b.driveIt(50);
00019 * }
00020 * 
00021 * @endcode 
00022 */
00023 
00024 class DCMotor {
00025 
00026 public:
00027     /** create a DCMotor object connected to the pins with speed control
00028     *   @param PWMPin   PWM pin to control speed of motor
00029     *   @param PinA     Digital output pin to connect to motor
00030     *   @param PinB     Digital output pin to connect to motor
00031     */
00032     DCMotor(PinName PWMPin, PinName PinA, PinName PinB);
00033     
00034     /** drive Motor input range (-100 to 100).
00035     *   @param perCent   PWM pin to control speed of motor
00036     */
00037     void driveIt(float);
00038 
00039 protected:
00040     PwmOut _PWMPin;
00041     DigitalOut _PinA;
00042     DigitalOut _PinB;
00043 };
00044 
00045 #endif