Revision 1:787f4284d968, committed 2017-07-13

Comitter:

skrickl

Date:

Thu Jul 13 13:42:23 2017 +0000

Parent:

0:21d9efc7ecb6

Commit message:

bla

Changed in this revision

diff -r 21d9efc7ecb6 -r 787f4284d968 Steering.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Steering.cpp	Thu Jul 13 13:42:23 2017 +0000
@@ -0,0 +1,50 @@
+#include "Steering.h"
+
+Steering::Steering() : _pwm(PIN_PWM_STEERING), _dir(PIN_DIR_STEERING)
+{
+    _pwm.period_ms(20); //needs to be changed!!!
+    _currentAngle = 0;
+    _steerAngle = 0;
+}
+
+Steering::~Steering()
+{
+    
+}
+
+void Steering::setSteerAngle(int angle)
+{
+    if (angle > MAX_STEER_ANGLE) angle = MAX_STEER_ANGLE;
+    if (angle < MIN_STEER_ANGLE) angle = MIN_STEER_ANGLE;
+    _steerAngle = angle;
+}
+
+void Steering::addToSteerAngle(int angle)
+{
+    int sum = _steerAngle + angle;
+    setSteerAngle(sum);
+}
+
+int Steering::getSteerAngle()
+{
+    return _steerAngle;
+}
+
+int Steering::readCurrentAngle()
+{
+    _currentAngle = 5; //replace by reading the sensor
+    return _currentAngle;
+}
+
+int Steering::getCurrentAngle()
+{
+    return _currentAngle;
+}
+
+void Steering::turn(float percentage)
+{    
+    //write to motor -1 ,1 direction
+    _pwm.write(abs(percentage)/100.0);
+    if (percentage < 0) _dir.write(0);
+    else _dir.write(1);
+}
\ No newline at end of file

diff -r 21d9efc7ecb6 -r 787f4284d968 Steering.h
--- a/Steering.h	Mon Jun 12 19:58:12 2017 +0000
+++ b/Steering.h	Thu Jul 13 13:42:23 2017 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+
+#ifndef STEERING_H
+#define STEERING_H
+
+#define PIN_PWM_STEERING p26 //or whatever
+#define PIN_DIR_STEERING p15 //or whatever
+
+#define MAX_PWM_SIGNAL 0.9f
+
+#define MAX_STEER_ANGLE 80
+#define MIN_STEER_ANGLE -80
+
+class Steering
+{
+    public:
+    
+    Steering();
+    ~Steering();
+    
+    void turn(float percentage);
+    void setSteerAngle(int angle);
+    void addToSteerAngle(int angle);
+    int getSteerAngle();
+    int readCurrentAngle();
+    int getCurrentAngle();
+    
+    private:
+    
+    int _steerAngle;
+    int _currentAngle;
+    
+    PwmOut _pwm;
+    DigitalOut _dir;
+    
+};
+
+#endif
\ No newline at end of file

diff -r 21d9efc7ecb6 -r 787f4284d968 Sterring.cpp