motor.h

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#ifndef MOTOR_H
#define MOTOR_H
 
#include "encoder.h"
#include "helper.h"
#include "mbed.h"
#include <utility>
 
#define FAST_PWM 0.6
#define HALF_PWM 0.5
#define SLOW_PWM 0.3
 
class Motor {
  private:
    DigitalOut m_direction_left;
 
    DigitalOut m_direction_right;
 
    DigitalOut m_enable;
 
    float m_period;
 
  public:
    PwmOut left_motor;
 
    PwmOut right_motor;
 
    Motor(PinName left, PinName right, PinName direction_left, PinName direction_right, PinName enable);
 
    void setEnable(int enable);
 
    void setEnable();
 
    int getEnable();
 
    void setFrequency(float frequency);
 
    float getFrequency() const;
 
    void setDirection(char c, int direction);
 
    void setDirection(char c);
 
    std::pair<int, int> getDirection() const;
 
    void setDutycycle(char c, float dutycycle);
 
    std::pair<float, float> getDutycycle();
 
 
    static void forward(const double distance, Motor *const motor,
                        Encoder *const left_encoder, Encoder *const right_encoder);
 
    static void reverse(const double distance, Motor *const motor,
                        Encoder *const left_encoder, Encoder *const right_encoder);
 
    static void turnleft(const double angle, Motor *const motor,
                        Encoder *const left_encoder, Encoder *const right_encoder);
 
    static void turnright(const double angle, Motor *const motor,
                        Encoder *const left_encoder, Encoder *const right_encoder);
 
};
 
#endif