Diff: LamborSteer.h

Revision:

0:b20808175db0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LamborSteer.h	Wed Nov 07 16:51:16 2018 +0000
@@ -0,0 +1,54 @@
+#ifndef LAMBORSTEER_H
+#define LAMBORSTEER_H
+
+#include "mbed.h"
+
+#define MAX_SERVOS 2
+#define MIN_POT_VALUE 10   
+#define MAX_POT_VALUE 1000  // 800
+#define MIN_ANGLE 10
+#define MAX_ANGLE 400       // 170
+
+typedef unsigned char uint8_t;
+
+typedef struct {
+    int wanted_angle;
+    int current_angle;
+    uint8_t speed;
+} servo_status;
+
+class LamborSteer
+{
+public:
+    LamborSteer(PinName _cw_pin, PinName _ccw_pin, PinName _enablerPin, PinName _sensor_pin, int _offset);
+    //void attach();
+    void timer_int_routine();  
+    void detach();
+    void write(int degrees);
+    void update();
+    servo_status read();
+
+    bool active;
+    int index;
+private:               
+    int offset;
+    uint8_t speed;
+    int wanted_position;
+    int tolerance;
+    int constrained_value;
+    
+    void write_pot_value(int degrees);
+    void run_cw();
+    void run_ccw();
+    void stop();
+    int get_position();
+    long map(long x, long in_min, long in_max, long out_min, long out_max);
+    DigitalOut cw_pin;
+    DigitalOut ccw_pin;
+    PwmOut enabler_pin;
+    AnalogIn sensor_pin;
+};
+
+static int s_index;                 // number of registered servo's
+static LamborSteer* _m_servos[2];   // array containing registered servo's
+#endif