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Dependencies:   mbed

Fork of priustroller by Bayley Wang

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Show/hide line numbers motor.cpp Source File

motor.cpp

00001 #include "includes.h"
00002 #include "core.h"
00003 #include "sensors.h"
00004 
00005 Motor::Motor(CurrentSensor *sense_c, CurrentSensor *sense_b, PositionSensor *sense_p, TempSensor *sense_t) {
00006     _sense_c = sense_c;
00007     _sense_b = sense_b;
00008     _sense_p = sense_p;
00009     _sense_t = sense_t;
00010 }
00011 
00012 float Motor::GetCurrentC() {
00013     return _sense_c->GetCurrent();
00014 }
00015 
00016 float Motor::GetCurrentB() {
00017     return _sense_b->GetCurrent();
00018 }
00019 
00020 float Motor::GetPosition() {
00021     return _sense_p->GetPosition();
00022 }
00023 
00024 float Motor::GetTemp() {
00025     return _sense_t->GetTemp();
00026 }
00027 
00028 void Motor::Config(int num_poles, float kv) {
00029     _num_poles = num_poles;
00030     _kv = kv;
00031 }
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