Shuto Naruse / Mbed 2 deprecated Eurobot_2012_Secondary

Eurobot_2012_Secondary

Dependencies:   mbed tvmet

motors.h@0:fbfafa6bf5f9, 2012-04-20 (annotated)

Committer:
narshu
Date:
Fri Apr 20 21:32:24 2012 +0000
Revision:
0:fbfafa6bf5f9

        

        
Who changed what in which revision?

        

            
                
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#ifndef MOTORS_H





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#define MOTORS_H





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#include "mbed.h"





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#include "TSH.h"





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class Motors {





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public:





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    Motors(TSI2C &i2cin);//, Mutex );





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    //Motors(I2C &i2cin);





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    //Functions declaration





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    void disableAcceleration();





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    void resetEncoders();





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    int getEncoder1();





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    int getEncoder2();





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    void move(int distance, int speed);





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    void turn(int angle, int speed);





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    int getSignOfInt(int direction);





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    void stop();





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    void setSpeed(int speed);





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    void setSpeed(int speed1, int speed2);





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    void setMode(int mode);





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    float encoderToDistance(int encoder);





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    int distanceToEncoder(float distance);





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    void sendCommand(char command);





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    void sendCommand(char command1, char command2 );





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    int get4Bytes(char command);





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private:





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    I2C& i2c;





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    //Mutex&





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    //Constants declaration





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    static const int md25Address = 0xB0;





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    static const char cmdSetMotor1 = 0x00;





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    static const char cmdSetMotor2 = 0x01;





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    static const char cmdByte = 0x10;





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    static const char cmdSetMode = 0x0F;





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    static const char cmdResetEncoders = 0x20;





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    static const char cmdGetEncoder1 = 0x02;





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    static const char cmdGetEncoder2 = 0x06;





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    static const char cmdDisableAcceleration = 0x30;





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};





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#endif