Shuto Naruse / Mbed 2 deprecated Eurobot2012_Secondary

Eurobot2012_Secondary

Fork of Eurobot_2012_Secondary by Shuto Naruse

motors/motors.h@1:cc2a9eb0bd55, 2012-10-17 (annotated)

Committer:
narshu
Date:
Wed Oct 17 22:25:31 2012 +0000
Revision:
1:cc2a9eb0bd55
Commit before publishing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
narshu 1:cc2a9eb0bd55 1 #ifndef MOTORS_H
narshu 1:cc2a9eb0bd55 2 #define MOTORS_H
narshu 1:cc2a9eb0bd55 3
narshu 1:cc2a9eb0bd55 4 #include "mbed.h"
narshu 1:cc2a9eb0bd55 5 #include "TSH.h"
narshu 1:cc2a9eb0bd55 6
narshu 1:cc2a9eb0bd55 7 class Motors {
narshu 1:cc2a9eb0bd55 8 public:
narshu 1:cc2a9eb0bd55 9 Motors(TSI2C &i2cin);//, Mutex );
narshu 1:cc2a9eb0bd55 10 //Motors(I2C &i2cin);
narshu 1:cc2a9eb0bd55 11
narshu 1:cc2a9eb0bd55 12 //Functions declaration
narshu 1:cc2a9eb0bd55 13 void disableAcceleration();
narshu 1:cc2a9eb0bd55 14 void resetEncoders();
narshu 1:cc2a9eb0bd55 15 int getEncoder1();
narshu 1:cc2a9eb0bd55 16 int getEncoder2();
narshu 1:cc2a9eb0bd55 17 void move(int distance, int speed);
narshu 1:cc2a9eb0bd55 18 void turn(int angle, int speed);
narshu 1:cc2a9eb0bd55 19 int getSignOfInt(int direction);
narshu 1:cc2a9eb0bd55 20 void stop();
narshu 1:cc2a9eb0bd55 21 void setSpeed(int speed);
narshu 1:cc2a9eb0bd55 22 void setSpeed(int speed1, int speed2);
narshu 1:cc2a9eb0bd55 23 void setMode(int mode);
narshu 1:cc2a9eb0bd55 24 float encoderToDistance(int encoder);
narshu 1:cc2a9eb0bd55 25 int distanceToEncoder(float distance);
narshu 1:cc2a9eb0bd55 26 void sendCommand(char command);
narshu 1:cc2a9eb0bd55 27 void sendCommand(char command1, char command2 );
narshu 1:cc2a9eb0bd55 28 int get4Bytes(char command);
narshu 1:cc2a9eb0bd55 29 void coastStop(void);
narshu 1:cc2a9eb0bd55 30
narshu 1:cc2a9eb0bd55 31
narshu 1:cc2a9eb0bd55 32 private:
narshu 1:cc2a9eb0bd55 33 I2C& i2c;
narshu 1:cc2a9eb0bd55 34 //Mutex&
narshu 1:cc2a9eb0bd55 35
narshu 1:cc2a9eb0bd55 36 //Constants declaration
narshu 1:cc2a9eb0bd55 37 static const int md25Address = 0xB0;
narshu 1:cc2a9eb0bd55 38 static const char cmdSetMotor1 = 0x00;
narshu 1:cc2a9eb0bd55 39 static const char cmdSetMotor2 = 0x01;
narshu 1:cc2a9eb0bd55 40 static const char cmdByte = 0x10;
narshu 1:cc2a9eb0bd55 41 static const char cmdSetMode = 0x0F;
narshu 1:cc2a9eb0bd55 42 static const char cmdSetAcceleration = 0x0E;
narshu 1:cc2a9eb0bd55 43 static const char cmdResetEncoders = 0x20;
narshu 1:cc2a9eb0bd55 44 static const char cmdGetEncoder1 = 0x02;
narshu 1:cc2a9eb0bd55 45 static const char cmdGetEncoder2 = 0x06;
narshu 1:cc2a9eb0bd55 46 static const char cmdDisableAcceleration = 0x30;
narshu 1:cc2a9eb0bd55 47 };
narshu 1:cc2a9eb0bd55 48
narshu 1:cc2a9eb0bd55 49 #endif