File content as of revision 23:112c0be5a7f3:

#include "mbed.h"
#include "QEI.h"

#ifndef MOTOR_HPP
#define MOTOR_HPP

class Motor {

    public:
        Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, PinName encA, PinName encB);
        
        void start();
        void stop();
        void setTorque(float t);
        void Control();
        float getMotorPos();
        float getCurrent();
        static float filterLowPass(float old, float currentIn, float alphar);
        void setPos(float pos);
        void setVel(float vel);
        void setPosVel(float pos, float vel);
        void zero();
        
        float kp;
        float kd;
        
    private:
        Ticker t;
        AnalogIn aIn;
        DigitalOut Forward;
        DigitalOut Backward;
        PwmOut pwmOut;
        QEI encoder;
        
        float speed;
        float freq;
        float pos;
        float angle;
        float voltage;
        int mode;
        
        float dAngularVelocity;
        float dAngle;
        float dTorque;
};

#endif