Mario Bambagini / Mbed 2 deprecated car_chassis

car chassis

Dependencies:   Servo mbed-rtos mbed

engine.hpp

Committer:
mariob
Date:
2015-10-13
Revision:
4:7fa7f78cbb92
Parent:
2:7dfc8dd6aab3

File content as of revision 4:7fa7f78cbb92:

#ifndef __ENGINE_HPP__
#define __ENGINE_HPP__

/**
 * Initialization of the engine component:
 * - main engine
 * - steering motor
 */
void init_engine();

/**
 * The thread executes periodically:
 * - check inputs: if no message has arrived for 2.5 seconds, switch the
 *   actuators off
 * - actuation:
 *   - rotate steering servo motor
 *   - main engine:
 *     - if the driver is breaking, block the motor for no more than 1 seconds
 *       (while breaking the engine dissipates much power)
 *     - otherwise, set direction and set the current which flows into the 
 *       motor
 */
void thread_engine (void const *args);

#endif //__ENGINE_HPP__