Rauno U
/
Miisu
Six crescent shaped legs
EncoderMotor.hpp
- Committer:
- sim642
- Date:
- 2016-03-29
- Revision:
- 4:4d54794b99a5
- Parent:
- 3:2235787e78c4
- Child:
- 5:7f800f61cb13
File content as of revision 4:4d54794b99a5:
#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 prevSpeed, speed; float out; }; #endif // ENCODER_MOTOR_H