Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: include/motor.hpp

Revision:
37:bf257a0154db
Parent:
35:a4e89e78d034
Child:
38:922f2584bdfd
--- a/include/motor.hpp	Sun Nov 24 20:18:17 2013 +0000
+++ b/include/motor.hpp	Sun Nov 24 20:38:59 2013 +0000
@@ -7,13 +7,13 @@
 class Motor {
 
     public:
-        Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, PinName encA, PinName encB);
+        Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI &enc);
         
         void start();
         void stop();
         void setTorque(float t);
         void Control();
-        float getMotorPos();
+        int getPos();
         float getCurrent();
         static float filterLowPass(float old, float currentIn, float alphar);
         void setPos(float pos);
@@ -30,7 +30,7 @@
         DigitalOut Forward;
         DigitalOut Backward;
         PwmOut pwmOut;
-        QEI encoder;
+        QEI& encoder;
         
         float speed;
         float freq;