Shuto Naruse
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Eurobot_2012_Secondary
Eurobot_2012_Secondary
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motors.h
00001 #ifndef MOTORS_H 00002 #define MOTORS_H 00003 00004 #include "mbed.h" 00005 #include "TSH.h" 00006 00007 class Motors { 00008 public: 00009 Motors(TSI2C &i2cin);//, Mutex ); 00010 //Motors(I2C &i2cin); 00011 00012 //Functions declaration 00013 void disableAcceleration(); 00014 void resetEncoders(); 00015 int getEncoder1(); 00016 int getEncoder2(); 00017 void move(int distance, int speed); 00018 void turn(int angle, int speed); 00019 int getSignOfInt(int direction); 00020 void stop(); 00021 void setSpeed(int speed); 00022 void setSpeed(int speed1, int speed2); 00023 void setMode(int mode); 00024 float encoderToDistance(int encoder); 00025 int distanceToEncoder(float distance); 00026 void sendCommand(char command); 00027 void sendCommand(char command1, char command2 ); 00028 int get4Bytes(char command); 00029 00030 00031 private: 00032 I2C& i2c; 00033 //Mutex& 00034 00035 //Constants declaration 00036 static const int md25Address = 0xB0; 00037 static const char cmdSetMotor1 = 0x00; 00038 static const char cmdSetMotor2 = 0x01; 00039 static const char cmdByte = 0x10; 00040 static const char cmdSetMode = 0x0F; 00041 static const char cmdResetEncoders = 0x20; 00042 static const char cmdGetEncoder1 = 0x02; 00043 static const char cmdGetEncoder2 = 0x06; 00044 static const char cmdDisableAcceleration = 0x30; 00045 }; 00046 00047 #endif
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