Diff: Car.h

Revision:

0:d388aed56112

Child:

1:3e1290de9c8d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Car.h	Fri Mar 07 07:54:13 2014 +0000
@@ -0,0 +1,58 @@
+/*******************************************************************************
+* RenBED Car used to drive RenBuggy with servo and 1 motor                     *
+* Copyright (c) 2014 Mark Jones                                                *
+*                                                                              *
+* Permission is hereby granted, free of charge, to any person obtaining a copy *
+* of this software and associated documentation files (the "Software"), to deal*
+* in the Software without restriction, including without limitation the rights *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    *
+* copies of the Software, and to permit persons to whom the Software is        *
+* furnished to do so, subject to the following conditions:                     *
+*                                                                              *
+* The above copyright notice and this permission notice shall be included in   *
+* all copies or substantial portions of the Software.                          *
+*                                                                              *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    *
+* THE SOFTWARE.                                                                *
+*                                                                              *
+* Car.h                                                                        *
+*                                                                              *
+* V1. 05/03/2014                                           Mark Jones          *
+*******************************************************************************/
+
+#ifndef CAR_H
+#define CAR_H
+
+#include "mbed.h"
+
+class Car {  
+    private:
+    PwmOut m_servo;
+    PwmOut m_motor;
+    int m_pwmPeriod;        // Period used in PWM.
+    int m_servoRange;       // Pulsewidth range to full left/right from centre (1.5ms)
+    float m_servoDegrees;   // Angle to full right/left turn from centre (0).
+    float distanceToTimeConverter(float distance);
+    public:
+    Car(PinName servoPin, PinName motorPin);
+    ~Car();
+    
+    void forwards(float distance);
+    void forwards(int speed);
+    void forwards();
+    void stop();
+    void setDirection(int degrees);
+    
+    void configureServo_us(int pulsewidth_us, int period_us, int range, float degrees);
+    void configureServo_ms(int pulsewidth_ms, int period_ms, int range, float degrees);
+    
+    void configureMotor_us(int pulsewidth_us, int period_us);
+    void configureMotor_ms(int pulsewidth_ms, int period_ms);
+};
+
+#endif // CAR_H
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