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Dependencies:   mbed QEI

headers/motors.h@0:88c60458332e, 2018-11-08 (annotated)

Committer:
rwgriffithv
Date:
Thu Nov 08 06:38:19 2018 +0000
Revision:
0:88c60458332e
Child:
3:35deb5c21b33
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwgriffithv 0:88c60458332e 1 #pragma once
rwgriffithv 0:88c60458332e 2
rwgriffithv 0:88c60458332e 3 const int PERIOD_US = 10000;
rwgriffithv 0:88c60458332e 4
rwgriffithv 0:88c60458332e 5 // Feel free to change these parameters as needed
rwgriffithv 0:88c60458332e 6 const float MIN_SPEED = 0.08f;
rwgriffithv 0:88c60458332e 7 const float MAX_SPEED = 0.3f;
rwgriffithv 0:88c60458332e 8
rwgriffithv 0:88c60458332e 9 const int RIGHT_MOTOR = 0;
rwgriffithv 0:88c60458332e 10 const int LEFT_MOTOR = 1;
rwgriffithv 0:88c60458332e 11
rwgriffithv 0:88c60458332e 12 class Motors {
rwgriffithv 0:88c60458332e 13 public:
rwgriffithv 0:88c60458332e 14 Motors();
rwgriffithv 0:88c60458332e 15 void startBaseSpeed();
rwgriffithv 0:88c60458332e 16 void stop();
rwgriffithv 0:88c60458332e 17
rwgriffithv 0:88c60458332e 18 /***
rwgriffithv 0:88c60458332e 19 * Range from 0.0-1.0.
rwgriffithv 0:88c60458332e 20 ***/
rwgriffithv 0:88c60458332e 21 void setLeftPwm(float pwm);
rwgriffithv 0:88c60458332e 22 void setRightPwm(float pwm);
rwgriffithv 0:88c60458332e 23 private:
rwgriffithv 0:88c60458332e 24 void setMotorPwm(int motor, float pwm);
rwgriffithv 0:88c60458332e 25
rwgriffithv 0:88c60458332e 26 float m_rpwm;
rwgriffithv 0:88c60458332e 27 float m_lpwm;
rwgriffithv 0:88c60458332e 28 };