Diff: motors/motors.h

Revision:

9:377560539b74

Parent:

8:ffc7d8af2d5a

Child:

10:294b9adbc9d3

--- a/motors/motors.h	Fri Apr 27 18:36:54 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,62 +0,0 @@
-#ifndef MOTORS_H
-#define MOTORS_H
-
-#include "mbed.h"
-#include "QEI.h"
-#include "PID.h"
-#include "TSH.h"
-
-class Motors {
-
-public:
-    Motors();
-    Motors(TSI2C &i2cin);
-
-    //Functions declaration
-    void resetEncoders();
-    int getEncoder1();
-    int getEncoder2();
-    void move(int distance, int speed);
-    void turn(int angle, int speed);
-    int getSignOfInt(int direction);
-    void setSpeed(int speed);
-    void setSpeed(int speed1, int speed2);
-    void stop();
-    void setMode(int mode);
-    int encoderToDistance(int encoder);
-    int distanceToEncoder(int distance);
-    void sendCommand(char command);
-    void sendCommand(char command1, char command2 );
-    void speedRegulatorTask();
-    float _debug1;
-    float _debug2;
-    int accelerationRegister;   //turns on acceleration control
-
-private:
-
-
-    void _setSpeed(int speed1, int speed2);
-    void _stop();
-    void _stop(int motor1, int motor2);
-    QEI Encoder1;
-    QEI Encoder2;
-    DigitalOut Motor1A;
-    DigitalOut Motor1B;
-    DigitalOut Motor2A;
-    DigitalOut Motor2B;
-    PwmOut Motor1Enable;
-    PwmOut Motor2Enable;
-    int _motorSpeed1;
-    int _motorSpeed2;
-    PID PIDControllerMotor1;
-    PID PIDControllerMotor2;
-    int _lastEncoder1;
-    int _lastEncoder2;
-    int _pidDataBufferIndex;
-    int _accelerationSpeed1;
-    int _accelerationSpeed2;
-    Ticker _ticker;
-
-};
-
-#endif