added gy80 dcm
Dependencies: mbed DCM_AHRS_GY80 PID MMA8451Q
Fork of quadCommand by
quadCommand/motor/motor.h@64:2b6399fe00f6, 2013-07-28 (annotated)
- Committer:
- oprospero
- Date:
- Sun Jul 28 21:46:54 2013 +0000
- Revision:
- 64:2b6399fe00f6
working state;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
oprospero | 64:2b6399fe00f6 | 1 | /******************************* motor.h *********************************/ |
oprospero | 64:2b6399fe00f6 | 2 | /* Version: 1.0 */ |
oprospero | 64:2b6399fe00f6 | 3 | /* Last Updated: June 1, 2013 */ |
oprospero | 64:2b6399fe00f6 | 4 | /* */ |
oprospero | 64:2b6399fe00f6 | 5 | /* The motor class is used for motor control using a PWM ECS. When a */ |
oprospero | 64:2b6399fe00f6 | 6 | /*a motor object is created you must pass the PWM pin as the only */ |
oprospero | 64:2b6399fe00f6 | 7 | /*argument. */ |
oprospero | 64:2b6399fe00f6 | 8 | /* */ |
oprospero | 64:2b6399fe00f6 | 9 | /* Wiring diagrams */ |
oprospero | 64:2b6399fe00f6 | 10 | /* _______ _______ */ |
oprospero | 64:2b6399fe00f6 | 11 | /* CW ----| | CCW ---\/ --| | */ |
oprospero | 64:2b6399fe00f6 | 12 | /* ----| Motor | ---/\---| Motor | */ |
oprospero | 64:2b6399fe00f6 | 13 | /* ----|_______| --/ \--|_______| */ |
oprospero | 64:2b6399fe00f6 | 14 | /* Straight through Switch wire 1 and 3 */ |
oprospero | 64:2b6399fe00f6 | 15 | /* */ |
oprospero | 64:2b6399fe00f6 | 16 | /*************************************************************************/ |
oprospero | 64:2b6399fe00f6 | 17 | |
oprospero | 64:2b6399fe00f6 | 18 | |
oprospero | 64:2b6399fe00f6 | 19 | #ifndef MOTOR_H |
oprospero | 64:2b6399fe00f6 | 20 | #define MOTOR_H |
oprospero | 64:2b6399fe00f6 | 21 | |
oprospero | 64:2b6399fe00f6 | 22 | #include "mbed.h" |
oprospero | 64:2b6399fe00f6 | 23 | |
oprospero | 64:2b6399fe00f6 | 24 | class motor |
oprospero | 64:2b6399fe00f6 | 25 | { |
oprospero | 64:2b6399fe00f6 | 26 | public: |
oprospero | 64:2b6399fe00f6 | 27 | motor( PinName ); // motor object constructor. |
oprospero | 64:2b6399fe00f6 | 28 | void setSpeed( int ); // Set the speed for the motor 0-100 |
oprospero | 64:2b6399fe00f6 | 29 | void setPulseMin( float ); // Set smallest pulse. |
oprospero | 64:2b6399fe00f6 | 30 | void setPulseMax( float ); // Set largest pulse. |
oprospero | 64:2b6399fe00f6 | 31 | int getSpeed(); |
oprospero | 64:2b6399fe00f6 | 32 | |
oprospero | 64:2b6399fe00f6 | 33 | private: |
oprospero | 64:2b6399fe00f6 | 34 | PwmOut *pwmPin; // Pin used for PWM. |
oprospero | 64:2b6399fe00f6 | 35 | int currentSpeed; // Speed of the motor. |
oprospero | 64:2b6399fe00f6 | 36 | float pulse; // Current pulse of the motor. |
oprospero | 64:2b6399fe00f6 | 37 | float pulseMin; // Shortest value for the pulse |
oprospero | 64:2b6399fe00f6 | 38 | float pulseMax; // Largest value for the pulse. |
oprospero | 64:2b6399fe00f6 | 39 | }; |
oprospero | 64:2b6399fe00f6 | 40 | |
oprospero | 64:2b6399fe00f6 | 41 | #endif |