Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

EncoderMotor.hpp@3:2235787e78c4, 2016-03-29 (annotated)

Committer:
sim642
Date:
Tue Mar 29 12:54:12 2016 +0000
Revision:
3:2235787e78c4
Child:
4:4d54794b99a5
First working EncoderMotor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sim642 3:2235787e78c4 1 #ifndef ENCODER_MOTOR_H
sim642 3:2235787e78c4 2 #define ENCODER_MOTOR_H
sim642 3:2235787e78c4 3
sim642 3:2235787e78c4 4 #include "Motor.hpp"
sim642 3:2235787e78c4 5 #include "Encoder.hpp"
sim642 3:2235787e78c4 6 #include "ErrorController.hpp"
sim642 3:2235787e78c4 7
sim642 3:2235787e78c4 8 class EncoderMotor : public Motor
sim642 3:2235787e78c4 9 {
sim642 3:2235787e78c4 10 public:
sim642 3:2235787e78c4 11 EncoderMotor(PinName pwmPin, PinName dir1Pin, PinName dir2Pin, Encoder &nEncoder, ErrorController &nEc);
sim642 3:2235787e78c4 12
sim642 3:2235787e78c4 13 void setup();
sim642 3:2235787e78c4 14
sim642 3:2235787e78c4 15 virtual void drive(float power);
sim642 3:2235787e78c4 16
sim642 3:2235787e78c4 17 long getSpeed();
sim642 3:2235787e78c4 18
sim642 3:2235787e78c4 19 //private:
sim642 3:2235787e78c4 20 void tick();
sim642 3:2235787e78c4 21
sim642 3:2235787e78c4 22 Encoder &encoder;
sim642 3:2235787e78c4 23
sim642 3:2235787e78c4 24 Ticker ticker;
sim642 3:2235787e78c4 25 float setPower;
sim642 3:2235787e78c4 26 long prevCount;
sim642 3:2235787e78c4 27 ErrorController &ec;
sim642 3:2235787e78c4 28 volatile long dCount;
sim642 3:2235787e78c4 29
sim642 3:2235787e78c4 30 float out;
sim642 3:2235787e78c4 31 };
sim642 3:2235787e78c4 32
sim642 3:2235787e78c4 33 #endif // ENCODER_MOTOR_H