Li Weiyi / Mbed 2 deprecated Cube

Microduino的cube小车。

Dependencies:   mbed-rtos mbed

Microduino_Motor.h

Committer:
lixianyu
Date:
2016-05-25
Revision:
2:70ca3e685cca
Parent:
1:758ccab13947
Child:
3:e4ac7c1a14de

File content as of revision 2:70ca3e685cca:

#ifndef Motor_h
#define Motor_h

//#include "Arduino.h"
#include "mbed.h"

#define CHAN_LEFT 0
#define CHAN_RIGHT 1

typedef struct  {
    uint8_t nbr_A        :6 ;
    uint8_t nbr_B        :6 ;
} MotorPin_t   ;

typedef struct {
    MotorPin_t Pin;
} motor_t;

class Motor
{
public:
    Motor(PinName _motor_pinA, PinName _motor_pinB);
    void Fix(float _fix);
    void Driver(int16_t _motor_driver);
    void Free();
    void Brake();
    int16_t GetData(int16_t _throttle, int16_t _steering, bool _dir);
private:
    uint8_t motorIndex;               // index into the channel data for this key
    float fix;
    int16_t _motor_vol;
protected:
    gpio_t gpioA;
    gpio_t gpioB;
};

#endif