motors.h

00001 #ifndef MOTORS_H
00002 #define MOTORS_H
00003 
00004 #include "mbed.h"
00005 #include "QEI.h"
00006 #include "PID.h"
00007 #include "TSH.h"
00008 
00009 class Motors {
00010 
00011 public:
00012     Motors();
00013     Motors(TSI2C &i2cin);
00014 
00015     //Functions declaration
00016     void resetEncoders();
00017     int getEncoder1();
00018     int getEncoder2();
00019     void move(int distance, int speed);
00020     void turn(int angle, int speed);
00021     int getSignOfInt(int direction);
00022     void setSpeed(int speed);
00023     void setSpeed(int speed1, int speed2);
00024     void stop();
00025     void setMode(int mode);
00026     int encoderToDistance(int encoder);
00027     int distanceToEncoder(int distance);
00028     void sendCommand(char command);
00029     void sendCommand(char command1, char command2 );
00030     void speedRegulatorTask();
00031     float _debug1;
00032     float _debug2;
00033     int accelerationRegister;   //turns on acceleration control
00034     void coastStop();
00035 
00036 private:
00037     
00038     void _setSpeed(int speed1, int speed2);
00039     void _stop();
00040     void _stop(int motor1, int motor2);
00041     QEI Encoder1;
00042     QEI Encoder2;
00043     DigitalOut Motor1A;
00044     DigitalOut Motor1B;
00045     DigitalOut Motor2A;
00046     DigitalOut Motor2B;
00047     PwmOut Motor1Enable;
00048     PwmOut Motor2Enable;
00049     int _motorSpeed1;
00050     int _motorSpeed2;
00051     PID PIDControllerMotor1;
00052     PID PIDControllerMotor2;
00053     int _lastEncoder1;
00054     int _lastEncoder2;
00055     int _pidDataBufferIndex;
00056     int _accelerationSpeed1;
00057     int _accelerationSpeed2;
00058     int _enableSpeed;
00059     Ticker _ticker;
00060 
00061 };
00062 
00063 #endif