Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
motors.h
- Committer:
- narshu
- Date:
- 2012-04-20
- Revision:
- 0:fbfafa6bf5f9
File content as of revision 0:fbfafa6bf5f9:
#ifndef MOTORS_H #define MOTORS_H #include "mbed.h" #include "TSH.h" class Motors { public: Motors(TSI2C &i2cin);//, Mutex ); //Motors(I2C &i2cin); //Functions declaration void disableAcceleration(); void resetEncoders(); int getEncoder1(); int getEncoder2(); void move(int distance, int speed); void turn(int angle, int speed); int getSignOfInt(int direction); void stop(); void setSpeed(int speed); void setSpeed(int speed1, int speed2); void setMode(int mode); float encoderToDistance(int encoder); int distanceToEncoder(float distance); void sendCommand(char command); void sendCommand(char command1, char command2 ); int get4Bytes(char command); private: I2C& i2c; //Mutex& //Constants declaration static const int md25Address = 0xB0; static const char cmdSetMotor1 = 0x00; static const char cmdSetMotor2 = 0x01; static const char cmdByte = 0x10; static const char cmdSetMode = 0x0F; static const char cmdResetEncoders = 0x20; static const char cmdGetEncoder1 = 0x02; static const char cmdGetEncoder2 = 0x06; static const char cmdDisableAcceleration = 0x30; }; #endif