motorpp.hpp

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/* -*- mode: c++; c-basic-offset: 4; -*- */
#ifndef __motorpp__
#define __motorpp__

#include <stdint.h>

#include "blinker.hpp"
#include "direction.hpp"
#include "criticalpp.hpp"

typedef int32_t percent_t;
typedef uint32_t memory_address_t;
#define DEFAULT_PWM_PERIOD 10000

class motor : public critical {
private:
    blinker ctrl;
    blinker pwm;
    memory_address_t ctrl_base;
    memory_address_t ctrl_pin;
    memory_address_t pwm_base;
    memory_address_t pwm_pin;
    memory_address_t pwm_gen;
    memory_address_t pwm_out;
    bool motor_installed_backwards;

    uint32_t pwm_period;
    uint32_t duty_period;
    Direction direction;
    percent_t current_speed;

    void motor_init(void);
    void pwm_init(void);

    Direction adjusted_direction(void);

    bool enabled;

public:

    motor();
    motor(memory_address_t ctrl_base, memory_address_t ctrl_pin,
          memory_address_t pwm_base, memory_address_t pwm_gen,
          memory_address_t pwm_out, bool motor_installed_backwards = false);

    void set_motor_installed_backwards(bool);

    void stop(void);

    void start(void);

    void set(percent_t speed);

    void set(percent_t percent_full_speed, Direction dir);

    percent_t get(void);

    void reverse(void);

    const static uint16_t pwm_max_period = DEFAULT_PWM_PERIOD;
};

#endif

/* Local Variables: */
/* firestarter: (compile "make -k -j32 -C ~/workspace/ee445m-labs/build/") */
/* End: */