Diff: motor.h

Revision:

0:c15430f1895f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Sat Feb 11 15:55:34 2017 +0000
@@ -0,0 +1,37 @@
+#ifndef _MOTOR_H_
+#define _MOTOR_H_
+
+#include "MicroBit.h"
+
+// If you change step frequency, you will implicitly also change acceleration
+// If you change acceleration, you will - wait for it - change acceleration
+const float STEP_FREQUENCY = 4000; // kHz
+const float STEP_PERIOD = 1.0/STEP_FREQUENCY; 
+const float ACCELERATION = 8;
+
+typedef enum 
+{
+    FORWARD = 1,
+    REVERSE = 0
+} STEP_DIRECTION;
+
+class Motor
+{
+public:
+    Motor(MicroBit & bit);
+    void Step();
+    void SetSpeed(float targetSpeed);
+    float Speed();
+    void SetDirection(STEP_DIRECTION direction) const;
+ 
+private:
+    MicroBit & _bit;
+    void SetPWMDutyCycle(int value) const;
+    void SetPWMPeriod(int usValue) const;
+    
+    float _speed;
+    float _targetSpeed;
+};
+
+
+#endif
\ No newline at end of file