remoteMotor.h

00001 /*
00002 *   File:       remoteMotor.h
00003 *   Author:     Shawn Swatek
00004 *   Originated: Spring 2013
00005 *   Revised:    3/30/13
00006 */
00007 
00008 #ifndef __REMOTEMOTOR__
00009 #define __REMOTEMOTOR__
00010 
00011 #include "mbed.h"
00012 #include "remoteEnc.h"
00013 
00014 //each motor is driven by three control wires, one for the high side of the motor, one for the low side, and a pwm (digital approximation of analog) for speed
00015 // the two non-pwm signals come from the remote processor and are controlled by this class
00016 
00017 class remoteMotor {
00018 private:
00019     remoteEnc &remote;
00020     int remoteA;
00021     int remoteB;
00022     PwmOut OutPWM;
00023     int reversed;
00024 public:
00025     remoteMotor(remoteEnc &remoteIn, int APin,int BPin, PinName PWMPin);
00026     int setPower(double power);
00027     int setReversed(int state);
00028     int brake();
00029 };
00030 
00031 // this is for a different style of motor driver that only uses one wire for forward/reverse, and another for pwm-ing enable
00032 class simpleRemoteMotor {
00033 private:
00034     remoteEnc &remote;
00035     int remotepin;
00036     PwmOut OutPWM;
00037     int reversed;
00038     double currPower;
00039 public:
00040     simpleRemoteMotor(remoteEnc &remotedev, int remotepinin, PinName PWMPin);
00041     int setPower(double power);
00042     int setReversed(int state);
00043     double getPower() {return currPower;}
00044 };
00045 
00046 #endif