Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

EncoderMotor.hpp

Committer:
sim642
Date:
2016-03-29
Revision:
3:2235787e78c4
Child:
4:4d54794b99a5

File content as of revision 3:2235787e78c4:

#ifndef ENCODER_MOTOR_H
#define ENCODER_MOTOR_H

#include "Motor.hpp"
#include "Encoder.hpp"
#include "ErrorController.hpp"

class EncoderMotor : public Motor
{
public:
    EncoderMotor(PinName pwmPin, PinName dir1Pin, PinName dir2Pin, Encoder &nEncoder, ErrorController &nEc);
    
    void setup();
    
    virtual void drive(float power);
    
    long getSpeed();
    
//private:
    void tick();

    Encoder &encoder;
    
    Ticker ticker;
    float setPower;
    long prevCount;
    ErrorController &ec;
    volatile long dCount;
    
    float out;
};

#endif // ENCODER_MOTOR_H