Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

Actuators/MainMotors/MainMotor.h@2:45da48fab346, 2013-03-29 (annotated)

Committer:
twighk
Date:
Fri Mar 29 20:09:21 2013 +0000
Revision:
2:45da48fab346
Parent:
1:8119211eae14
Child:
5:56a5fdd373c9
Emergency Stop Button, Derive all actuator classes from the base class, and implement a virtual halt function that releases power from them

Who changed what in which revision?

UserRevisionLine numberNew contents of line
twighk 0:200635fa1b08 1
twighk 0:200635fa1b08 2 // Eurobot13 MainMotor.h
twighk 0:200635fa1b08 3
twighk 0:200635fa1b08 4 #include "mbed.h"
twighk 2:45da48fab346 5 #include "Actuators/Actuator.h"
twighk 0:200635fa1b08 6
twighk 2:45da48fab346 7 class MainMotor: public Actuator{
twighk 0:200635fa1b08 8 private:
twighk 0:200635fa1b08 9 PwmOut PWM1;
twighk 0:200635fa1b08 10 PwmOut PWM2;
twighk 0:200635fa1b08 11
twighk 0:200635fa1b08 12 public:
twighk 0:200635fa1b08 13 MainMotor(PinName pin1, PinName pin2) : PWM1(pin1), PWM2(pin2){
twighk 0:200635fa1b08 14 }
twighk 0:200635fa1b08 15
twighk 0:200635fa1b08 16 void operator()(float in){
twighk 0:200635fa1b08 17 power(in);
twighk 0:200635fa1b08 18 }
twighk 0:200635fa1b08 19
twighk 0:200635fa1b08 20 void power(float power){
twighk 0:200635fa1b08 21 if( power > 0 ){
twighk 0:200635fa1b08 22 PWM1 = power;
twighk 0:200635fa1b08 23 PWM2 = 0;
twighk 0:200635fa1b08 24 } else {
twighk 0:200635fa1b08 25 PWM1 = 0;
twighk 0:200635fa1b08 26 PWM2 = -power;
twighk 0:200635fa1b08 27 }
twighk 0:200635fa1b08 28 }
twighk 2:45da48fab346 29
twighk 2:45da48fab346 30 virtual void halt (void){
twighk 2:45da48fab346 31 DigitalOut myled(LED2);
twighk 2:45da48fab346 32 myled = 1;
twighk 2:45da48fab346 33 PWM1 = 0;
twighk 2:45da48fab346 34 PWM2 = 0;
twighk 2:45da48fab346 35 }
twighk 0:200635fa1b08 36
twighk 0:200635fa1b08 37 };