Kiko Ishimoto / Motor

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Dependents:   Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more

Motor.h

Committer:
kikoaac
Date:
2015-07-21
Revision:
1:4ab6e9768847
Parent:
0:1252cd3b995f
Child:
3:dea2df71cb97

File content as of revision 1:4ab6e9768847:


#ifndef Motor_H
#define Motor_H

#include "mbed.h"
#define Front 1
#define Back 2
#define Stop 3
#define Free 4
class Motor {

public:

    Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max);
    Motor& operator= (float duty)
    {
        if(duty<-0.01)
        {
            duty*=-1;
            run(Back,duty);
        }
        else if(duty>0.01)
        {
            run(Front,duty);
        }
        else run(Free,duty);
        return *this;
    }
    void setup(int _state);
    void run(int i,float duty);
    float min,max;
private:
    int state;
    float Duty;
    BusOut motor;
    PwmOut PwmPin;
};

#endif /* PID_H */