Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

EncoderMotor.hpp@12:8de7f5d56fe4, 2016-04-12 (annotated)

Committer:
sim642
Date:
Tue Apr 12 13:12:49 2016 +0000
Revision:
12:8de7f5d56fe4
Parent:
11:a0976d3b33c5
Child:
13:dc5f5f19e4e8
Make EncoderMotor own its own speed smoother

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 6:9f9047ca4a89 5 #include "SpeedEncoder.hpp"
sim642 12:8de7f5d56fe4 6 #include "LerpSmoother.hpp"
sim642 3:2235787e78c4 7 #include "ErrorController.hpp"
sim642 3:2235787e78c4 8
sim642 3:2235787e78c4 9 class EncoderMotor : public Motor
sim642 3:2235787e78c4 10 {
sim642 3:2235787e78c4 11 public:
sim642 12:8de7f5d56fe4 12 EncoderMotor(MotorData nData, EncoderData encData, ErrorController &nEc, ErrorController &nEcRot);
sim642 3:2235787e78c4 13 void setup();
sim642 3:2235787e78c4 14
sim642 3:2235787e78c4 15 virtual void drive(float power);
sim642 5:7f800f61cb13 16 void rotate(float rot);
sim642 5:7f800f61cb13 17
sim642 3:2235787e78c4 18 //private:
sim642 3:2235787e78c4 19 void tick();
sim642 3:2235787e78c4 20
sim642 11:a0976d3b33c5 21 SpeedEncoder encoder;
sim642 12:8de7f5d56fe4 22 LerpSmoother speedSmoother;
sim642 3:2235787e78c4 23
sim642 3:2235787e78c4 24 Ticker ticker;
sim642 3:2235787e78c4 25 float setPower;
sim642 3:2235787e78c4 26 ErrorController &ec;
sim642 3:2235787e78c4 27
sim642 3:2235787e78c4 28 float out;
sim642 5:7f800f61cb13 29
sim642 5:7f800f61cb13 30 float setRot;
sim642 5:7f800f61cb13 31 ErrorController &ecRot;
sim642 3:2235787e78c4 32 };
sim642 3:2235787e78c4 33
sim642 3:2235787e78c4 34 #endif // ENCODER_MOTOR_H