Diff: AP1017.h

Revision:

11:ac867fa4aa10

Parent:

10:16d45e3f4be3

Child:

13:1bea9a9412cb

--- a/AP1017.h	Wed Nov 08 21:37:24 2017 +0000
+++ b/AP1017.h	Tue May 01 21:28:57 2018 +0000
@@ -3,8 +3,6 @@
 
 #include "mbed.h"
 #include "akdp_debug.h"
-#include "tca9554a.h"
-#include "I2C.h"
 
 /**
  * This is a device driver for the AP1017 with pulse width modulation.
@@ -15,9 +13,9 @@
 
     /**
      * Default constructor creates motors with PWM initial duty cycle of 0%.
-     * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
+     * Motor EN pin connected to D9, INA connected to D0, INB connected to D1.
      */
-    AP1017(DigitalOut* A, DigitalOut* B, I2C* M);
+    AP1017(DigitalOut* InputA, DigitalOut* InputB, DigitalOut* Enable);
 
     /** 
      * Disables PWM for the motors.
@@ -72,12 +70,12 @@
      * @param dc Duty cycle as a proportion (0.0 to 1.0).
      * @return Returns successful termination or dutyc cyle error.
      */
-    Status  setSpeed(float dc);
+    Status  setSpeed(double dc);
 
     /**
      * Returns the currently set speed as a percentage.
      */
-    float getSpeed(void);
+    double getSpeed(void);
 
     /**
      * Engages the motor.
@@ -117,14 +115,12 @@
 private:
 
     bool        motorOn;            // Status flag for the motor
-    float       dutyCycle;          // Given as proportion: 0.00 to 1.00
+    double      dutyCycle;          // Given as proportion: 0.00 to 1.00
     Rotation    direction;
     
-    TCA9554A    *motor;              // Motor object
-    I2C*        i2cMotor;
-    
     DigitalOut* inA;
     DigitalOut* inB;
+    DigitalOut* en;
     /* inA=L, inB=L -> Standby (Coast)
      * inA=H, inB=L -> Forward (CW)
      * inA=L, inB=H -> Reverse (CCW)