Self_Driving_Rover/Wheels_Controller.h at master · vrrs/Self_Driving_Rover · GitHub

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#ifndef Wheels_Controller_h
#define Wheels_Controller_h

#include "Arduino.h"
#include <pt/pt.h>
#include <Consts.h>

class Wheels_Controller{
	private:

		static volatile unsigned long FREQ1[2];
		static volatile int  PIN[2];
		static volatile bool flag[2];
		static volatile unsigned long startime[2];
		static volatile unsigned long PERIOD;
		static struct pt ptM1, ptM2;

		static int moveWheel0(struct pt *ptt);
		static int moveWheel1(struct pt *ptt);

		void reset();

		Consts consts;
		unsigned long enforce_max_speed(unsigned long v);

	public:
		Wheels_Controller();

		static int DIRECTION;
		static volatile bool MOVING;

		//accessors
		unsigned long get_motor1_freq();
		unsigned long get_motor2_freq();

		//operations on the wheels
		void start_moving(int direction,unsigned long m1u1,unsigned long m2u1);
		void set_freqs(unsigned long m1u1,unsigned long m2u1);
		void stop_moving();
		void set_direction(int direction);

		//schedule the motion on the loop() function
		void schedule_wheel_motion();
};
#endif