Aaron Birenboim
Basic tank-style drive robot control firmware for Freescale FRDM-K64F. Controls motors on a Dual-Full-H-Bridge with EN, like DBH-1x series, from Bluetooth serial commands
Diff: MotorDriveBase.h
- Revision:
- 0:41ca27337c2b
- Child:
- 1:23d0a615756a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriveBase.h Tue Jul 28 14:59:19 2015 +0000
@@ -0,0 +1,19 @@
+// Generic interface for "standard" H-Bridge motor driver
+
+class MotorDriveBase
+{
+ virtual void stop() = 0;
+ virtual void emergencyStop() = 0;
+
+
+ // Set speed -MAX_PWM for max reverse, MAX_PWM for max forward
+ inline void setSpeed(const int spdReq)
+ {
+ setSpeed(spdReq,millis());
+ }
+
+ // many (all?) drivers may have some mode transition times and pauses.
+ // use these to indicate current time, to avoid repeated calls to millis()
+ virtual void setSpeed(const float spd, const long t) = 0; // pass in current time
+ virtual void update(long t) = 0; // check if some sort of state change needs to be processed
+};