Pat McC
/
thruster
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Diff: thruster.h
- Revision:
- 0:50cdd1590925
- Child:
- 1:94191f7e9b27
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/thruster.h Mon Nov 23 14:32:01 2020 +0000
@@ -0,0 +1,34 @@
+/*
+ * Thrust class for LPC1768
+ * US Naval Academy
+ * Robotics and Control TSD
+ * Patrick McCorkell
+ *
+ * Created: 2020 Nov 23
+ *
+ */
+
+#include "mbed.h"
+
+class Thruster {
+ public:
+ Thruster(PinName pin, float dir);
+ void setEvent();
+ void clearEvent();
+ void set_period(double thruster_time);
+ void set_pw(double thruster_pw);
+ double get_pw();
+ double get_speed();
+ int set_min(double new_min);
+ int set_max(double new_max);
+ uint32_t thruster_data();
+ int set_speed(double pntr);
+
+ protected:
+ PwmOut _pwm;
+ PinName _pin;
+ float _d;
+ int _lock;
+ double _max,_min;
+ double _base_pw, _period;
+};