Shuto Naruse
/
Eurobot2012_Secondary
Eurobot2012_Secondary
Fork of Eurobot_2012_Secondary by
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?
User | Revision | Line number | New 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 |