Kim Nielsen
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PRO1
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hack_motor.h
00001 #ifndef HACK_MOTOR_H 00002 #define HACK_MOTOR_H 00003 #include "mbed.h" 00004 00005 class Wheel { 00006 00007 public: 00008 00009 Wheel(PinName M1A_pin, PinName M1B_pin, PinName M2A_pin, PinName M2B_pin); 00010 ~Wheel(); 00011 void FW(); // Forward 00012 void BW(); // Backwards 00013 void right(); // Right 00014 void left(); // Left 00015 void stop(); // Stop 00016 void init(); // Init 00017 void set_speed(float speed); // set your wanted speed (0..1.0) 00018 float get_speed(); // get the actual speed 00019 void FW(float right, float left); // Overload Forward with right motor speed, left motor speed 00020 00021 private: 00022 float fw, bw; 00023 float speed; 00024 PwmOut *M1A; 00025 PwmOut *M2A; 00026 DigitalOut *M1B; 00027 DigitalOut *M2B; 00028 }; 00029 00030 #endif
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