Xavier Jannin / Mbed 2 deprecated PETIT_robot

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Dependencies:   mbed

Actionneurs/Moteur.h

Committer:
xav_jann1
Date:
2019-05-22
Revision:
0:1cfd66c3a181

File content as of revision 0:1cfd66c3a181:

#ifndef MOTEUR_H
#define MOTEUR_H

#include "mbed.h"

class Moteur {
 public:
  // Constructeur:
  Moteur(PinName pin_en, PinName pin_in1, PinName pin_in2);
  
  // Déplacement:
  void forward();
  void backward();
  void opposite();
  void stop();
  void turn(float pwm);
  
  // Setter:
  void setPWM(float pwm); // entre 0 et 1
  void setPWM_max(float pwm); // entre 0 et 1
  void setOffset(float offset); // entre 0 et 1
  
 private:
  PwmOut m_pwm;
  DigitalOut m_in1;
  DigitalOut m_in2;
  
  float m_pwm_max;
  float m_offset;
  
};

#endif