Diff: EncoderMotor.hpp

Revision:

6:9f9047ca4a89

Parent:

5:7f800f61cb13

Child:

7:8dcdb39efc0e

--- a/EncoderMotor.hpp	Tue Mar 29 14:59:13 2016 +0000
+++ b/EncoderMotor.hpp	Tue Mar 29 15:40:15 2016 +0000
@@ -2,32 +2,26 @@
 #define ENCODER_MOTOR_H
 
 #include "Motor.hpp"
-#include "Encoder.hpp"
+#include "SpeedEncoder.hpp"
 #include "ErrorController.hpp"
 
 class EncoderMotor : public Motor
 {
 public:
-    EncoderMotor(PinName pwmPin, PinName dir1Pin, PinName dir2Pin, Encoder &nEncoder, ErrorController &nEc, ErrorController &nEcRot);
-    
+    EncoderMotor(PinName pwmPin, PinName dir1Pin, PinName dir2Pin, SpeedEncoder &nEncoder, ErrorController &nEc, ErrorController &nEcRot);
     void setup();
     
     virtual void drive(float power);
-    
-    long getSpeed();
-    
     void rotate(float rot);
     
 //private:
     void tick();
 
-    Encoder &encoder;
+    SpeedEncoder &encoder;
     
     Ticker ticker;
     float setPower;
-    long prevCount;
     ErrorController &ec;
-    volatile long dCount;
     
     float prevSpeed, speed;
     float out;