Diff: motors.h

Revision:

0:fbfafa6bf5f9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Fri Apr 20 21:32:24 2012 +0000
@@ -0,0 +1,47 @@
+#ifndef MOTORS_H
+#define MOTORS_H
+
+#include "mbed.h"
+#include "TSH.h"
+
+class Motors {
+public:
+    Motors(TSI2C &i2cin);//, Mutex );
+    //Motors(I2C &i2cin);
+
+    //Functions declaration
+    void disableAcceleration();
+    void resetEncoders();
+    int getEncoder1();
+    int getEncoder2();
+    void move(int distance, int speed);
+    void turn(int angle, int speed);
+    int getSignOfInt(int direction);
+    void stop();
+    void setSpeed(int speed);
+    void setSpeed(int speed1, int speed2);
+    void setMode(int mode);
+    float encoderToDistance(int encoder);
+    int distanceToEncoder(float distance);
+    void sendCommand(char command);
+    void sendCommand(char command1, char command2 );
+    int get4Bytes(char command);
+
+
+private:
+    I2C& i2c;
+    //Mutex&
+
+    //Constants declaration
+    static const int md25Address = 0xB0;
+    static const char cmdSetMotor1 = 0x00;
+    static const char cmdSetMotor2 = 0x01;
+    static const char cmdByte = 0x10;
+    static const char cmdSetMode = 0x0F;
+    static const char cmdResetEncoders = 0x20;
+    static const char cmdGetEncoder1 = 0x02;
+    static const char cmdGetEncoder2 = 0x06;
+    static const char cmdDisableAcceleration = 0x30;
+};
+
+#endif