zhouhang shao
/
test
test
motor.h@2:b78dfa2afe92, 2017-05-06 (annotated)
- Committer:
- szh66
- Date:
- Sat May 06 23:10:06 2017 +0000
- Revision:
- 2:b78dfa2afe92
- Child:
- 6:9f698d1b2996
basic PCB board tests
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
szh66 | 2:b78dfa2afe92 | 1 | #ifndef MOTOR_H |
szh66 | 2:b78dfa2afe92 | 2 | #define MOTOR_H |
szh66 | 2:b78dfa2afe92 | 3 | #include "mbed.h" |
szh66 | 2:b78dfa2afe92 | 4 | |
szh66 | 2:b78dfa2afe92 | 5 | class Motor { |
szh66 | 2:b78dfa2afe92 | 6 | public: |
szh66 | 2:b78dfa2afe92 | 7 | Motor(PinName pwm, PinName dir); |
szh66 | 2:b78dfa2afe92 | 8 | |
szh66 | 2:b78dfa2afe92 | 9 | // Define speed as float value between -1.0 and 1.0 |
szh66 | 2:b78dfa2afe92 | 10 | void speed(float speed); |
szh66 | 2:b78dfa2afe92 | 11 | |
szh66 | 2:b78dfa2afe92 | 12 | // Stop the motor without breaking mechanism |
szh66 | 2:b78dfa2afe92 | 13 | void stop(void); |
szh66 | 2:b78dfa2afe92 | 14 | |
szh66 | 2:b78dfa2afe92 | 15 | // Override operator for setting motor speed |
szh66 | 2:b78dfa2afe92 | 16 | void operator = (float speed) { |
szh66 | 2:b78dfa2afe92 | 17 | Motor::speed(speed); |
szh66 | 2:b78dfa2afe92 | 18 | } |
szh66 | 2:b78dfa2afe92 | 19 | |
szh66 | 2:b78dfa2afe92 | 20 | // Getter method to retrieve the current speed |
szh66 | 2:b78dfa2afe92 | 21 | float read(){ |
szh66 | 2:b78dfa2afe92 | 22 | return curr_speed; |
szh66 | 2:b78dfa2afe92 | 23 | } |
szh66 | 2:b78dfa2afe92 | 24 | |
szh66 | 2:b78dfa2afe92 | 25 | private: |
szh66 | 2:b78dfa2afe92 | 26 | volatile float curr_speed; |
szh66 | 2:b78dfa2afe92 | 27 | PwmOut pwm_pin; |
szh66 | 2:b78dfa2afe92 | 28 | DigitalOut dir; |
szh66 | 2:b78dfa2afe92 | 29 | }; |
szh66 | 2:b78dfa2afe92 | 30 | |
szh66 | 2:b78dfa2afe92 | 31 | // Declaring as extern to enable global scope |
szh66 | 2:b78dfa2afe92 | 32 | extern Motor leftMotor; |
szh66 | 2:b78dfa2afe92 | 33 | extern Motor rightMotor; |
szh66 | 2:b78dfa2afe92 | 34 | |
szh66 | 2:b78dfa2afe92 | 35 | #endif |