E2016-S1-Team5 / Mbed 2 deprecated EndeligKildekode

Endelig kildekode med rettelser.

Dependencies:   PID mbed

Fork of Team5robotkode by E2016-S1-Team5

hack_motor.h@9:f14532fd7a02, 2016-12-15 (annotated)

Committer:
kimnielsen
Date:
Thu Dec 15 13:50:26 2016 +0000
Revision:
9:f14532fd7a02
Parent:
7:a852e63cac3d 
Endelig kildekode med rettelser.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kimnielsen 7:a852e63cac3d 1 #include "mbed.h"
kimnielsen 0:d3dbe632b1a9 2 #ifndef HACK_MOTOR_H
kimnielsen 0:d3dbe632b1a9 3 #define HACK_MOTOR_H
kimnielsen 0:d3dbe632b1a9 4 class Wheel {
kimnielsen 0:d3dbe632b1a9 5 public:
kimnielsen 0:d3dbe632b1a9 6 Wheel(PinName M1A_pin, PinName M1B_pin, PinName M2A_pin, PinName M2B_pin);
kimnielsen 0:d3dbe632b1a9 7 ~Wheel();
kimnielsen 0:d3dbe632b1a9 8 void FW(); // Forward
kimnielsen 0:d3dbe632b1a9 9 void BW(); // Backwards
kimnielsen 0:d3dbe632b1a9 10 void right(); // Right
kimnielsen 0:d3dbe632b1a9 11 void left(); // Left
kimnielsen 0:d3dbe632b1a9 12 void stop(); // Stop
kimnielsen 0:d3dbe632b1a9 13 void init(); // Init
kimnielsen 0:d3dbe632b1a9 14 void set_speed(float speed); // set your wanted speed (0..1.0)
kimnielsen 0:d3dbe632b1a9 15 float get_speed(); // get the actual speed
kimnielsen 0:d3dbe632b1a9 16 void FW(float right, float left); // Overload Forward with right motor speed, left motor speed
kimnielsen 0:d3dbe632b1a9 17 private:
kimnielsen 0:d3dbe632b1a9 18 float fw, bw;
kimnielsen 0:d3dbe632b1a9 19 float speed;
kimnielsen 0:d3dbe632b1a9 20 PwmOut *M1A;
kimnielsen 0:d3dbe632b1a9 21 PwmOut *M2A;
kimnielsen 0:d3dbe632b1a9 22 DigitalOut *M1B;
kimnielsen 0:d3dbe632b1a9 23 DigitalOut *M2B;
kimnielsen 7:a852e63cac3d 24 };
kimnielsen 0:d3dbe632b1a9 25 #endif