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50 lines
1003 B
C++
50 lines
1003 B
C++
// AccurateMotor.h
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/*
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* 精确的电机驱动类，通过定时器中断的形式规避内置码盘不可靠的问题
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*/
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#ifndef _ACCURATEMOTOR_h
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#define _ACCURATEMOTOR_h
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <DCMotor.h>
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#include <MsTimer2.h>
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class AccurateMotorClass
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{
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private:
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bool car_running;
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const uint16_t car_speed = 50;
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const uint16_t car_slow_speed = 10;
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//const uint16_t car_turn_speed = 100;
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const uint16_t car_turn_speed = 97;
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const uint16_t turn_multplyer = 7;
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const uint16_t run_multplyer = 100;
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private:
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static void SetCarRunning();
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static void SetCarNotRunning();
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public:
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void Init();
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bool IsCarRunning();
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void DelayUntilCarStop();
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public:
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void ForceStop();
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void TurnLeft(uint8_t degree);
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void TurnRight(uint8_t degree);
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void RunForward(uint8_t distence);
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void RunBackward(uint8_t distence);
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void RunForwardSlow(uint8_t distence);
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void RunBackwardSlow(uint8_t distence);
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};
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extern AccurateMotorClass AccurateMotor;
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#endif |