Diff: motors/motors.h

Revision:

2:cffa347bb943

Child:

23:1901cb6d0d95

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors/motors.h	Thu Apr 26 21:02:12 2012 +0000
@@ -0,0 +1,62 @@
+#ifndef MOTORS_H
+#define MOTORS_H
+
+#include "mbed.h"
+#include "QEI.h"
+#include "PID.h"
+#include "TSH.h"
+
+class Motors {
+
+public:
+    Motors();
+    Motors(TSI2C &i2cin);
+
+    //Functions declaration
+    void resetEncoders();
+    int getEncoder1();
+    int getEncoder2();
+    void move(int distance, int speed);
+    void turn(int angle, int speed);
+    int getSignOfInt(int direction);
+    void setSpeed(int speed);
+    void setSpeed(int speed1, int speed2);
+    void stop();
+    void setMode(int mode);
+    int encoderToDistance(int encoder);
+    int distanceToEncoder(int distance);
+    void sendCommand(char command);
+    void sendCommand(char command1, char command2 );
+    void speedRegulatorTask();
+    float _debug1;
+    float _debug2;
+    int accelerationRegister;   //turns on acceleration control
+
+private:
+
+
+    void _setSpeed(int speed1, int speed2);
+    void _stop();
+    void _stop(int motor1, int motor2);
+    QEI Encoder1;
+    QEI Encoder2;
+    DigitalOut Motor1A;
+    DigitalOut Motor1B;
+    DigitalOut Motor2A;
+    DigitalOut Motor2B;
+    PwmOut Motor1Enable;
+    PwmOut Motor2Enable;
+    int _motorSpeed1;
+    int _motorSpeed2;
+    PID PIDControllerMotor1;
+    PID PIDControllerMotor2;
+    int _lastEncoder1;
+    int _lastEncoder2;
+    int _pidDataBufferIndex;
+    int _accelerationSpeed1;
+    int _accelerationSpeed2;
+    Ticker _ticker;
+
+};
+
+#endif