Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: src/motor.cpp

Revision:
49:3aaa790800ad
Parent:
45:0db0fc9f77b1
Child:
50:510ce69c2a10
diff -r 8f0e007bd305 -r 3aaa790800ad src/motor.cpp
--- a/src/motor.cpp	Sun Dec 01 22:19:48 2013 +0000
+++ b/src/motor.cpp	Sun Dec 01 23:43:58 2013 +0000
@@ -20,6 +20,10 @@
     t.attach(this, &Motor::Control, freq);
 }
 
+void Motor::calibAngle(float ang){
+    encoder.calibPulse((int)ang*1200/6.283);
+}
+
 void Motor::stop(){
     t.detach();
     pwmOut.write(0);
@@ -31,6 +35,10 @@
     encoder.reset();
 }
 
+float Motor::getAngle(){
+    return encoder.getPulses()/1200.0*6.283;
+}
+
 void Motor::Control(){
     float preAngle=angle; // Storing the angle in the previous time step
     angle = encoder.getPulses()/1200.0*6.283; // Updating new motor angle