Peihsun Yeh
/
ECE4180FinalV4
CarlsenBot working
Motor/Motor.h
- Committer:
- pyeh9
- Date:
- 2013-05-01
- Revision:
- 0:cdd566529530
File content as of revision 0:cdd566529530:
/* mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford, http://mbed.org * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef MBED_MOTOR_H #define MBED_MOTOR_H #include "mbed.h" /** Interface to control a standard DC motor * * with an H-bridge using a PwmOut and 2 DigitalOuts */ class Motor { public: /** Create a motor control interface * * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed * @param fwd A DigitalOut, set high when the motor should go forward * @param rev A DigitalOut, set high when the motor should go backwards */ Motor(PinName pwm, PinName fwd, PinName rev); Motor(PinName pwm, PinName fwd, PinName rev, I2C *i); /** Set the speed of the motor * * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 */ void speed(float speed); // my changes I2C *_i2c; int ticks; char deviceAddress; int motorID; // for debugging bool is_reversed; // set this bit for a reversed motor, i.e. motor x2 void move(int pos); // move to tick = pos void getTicks(); void resetTicks(); void init(char, int, bool); private: protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; }; #endif