84 lines
2.2 KiB
C++
84 lines
2.2 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include "common/pimoroni_common.hpp"
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#include "motor_state.hpp"
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using namespace pimoroni;
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namespace motor {
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class Motor2 {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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pin_pair motor_pins;
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MotorState state;
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pwm_config pwm_cfg;
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uint16_t pwm_period;
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float pwm_frequency;
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DecayMode motor_mode;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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Motor2(const pin_pair &pins, Direction direction = NORMAL, float speed_scale = MotorState::DEFAULT_SPEED_SCALE,
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float deadzone = MotorState::DEFAULT_DEADZONE, float freq = MotorState::DEFAULT_FREQUENCY, DecayMode mode = MotorState::DEFAULT_DECAY_MODE);
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~Motor2();
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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bool init();
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// For print access in micropython
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pin_pair pins() const;
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void enable();
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void disable();
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bool is_enabled() const;
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float duty() const;
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void duty(float duty);
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float speed() const;
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void speed(float speed);
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float frequency() const;
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bool frequency(float freq);
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//--------------------------------------------------
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void stop();
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void coast();
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void brake();
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void full_negative();
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void full_positive();
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void to_percent(float in, float in_min = MotorState::ZERO_PERCENT, float in_max = MotorState::ONEHUNDRED_PERCENT);
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void to_percent(float in, float in_min, float in_max, float speed_min, float speed_max);
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//--------------------------------------------------
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Direction direction() const;
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void direction(Direction direction);
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float speed_scale() const;
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void speed_scale(float speed_scale);
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float deadzone() const;
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void deadzone(float deadzone);
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DecayMode decay_mode();
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void decay_mode(DecayMode mode);
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//--------------------------------------------------
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private:
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void apply_duty(float duty, DecayMode mode);
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};
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} |