BrushlessMotor.h

#ifndef __BRUSHLESSMOTOR_H__
#define __BRUSHLESSMOTOR_H__
 
#include <Arduino.h>
#include <Servo.h>
 
#include "PeriodicProcess.h"
 
 
#define MIN_PULSEWIDTH           1000     // the shortest pulse sent to a ESC  
#define MAX_PULSEWIDTH           2000     // the longest pulse sent to a ESC
#define MIN_VELOCITY             0
#define MAX_VELOCITY             100
 
class BrushlessMotor: public PeriodicProcess {
 
public:
    BrushlessMotor(): m_enabled(false), m_velocity(0), processingStartup(false){
        setTimestep(5);
    }
 
    void attach(int PIN);
    void detach();
 
    void enableStartup();
    void disableStartup();
    void updateStartup();
    void enableMotor();
    void disableMotor();
    int setVelocity(int velocity);
    int setPulsewidth(int pulsewidth);
    void forcePulsewidth(int pulsewidth);
    void update();
    void startupProcess();
 
    float getVelocity() const {return map(m_velocity,0,180,0,100);}
    bool  isEnabled() const {return m_enabled;}
 
    int readMicroseconds();
 
private:
    Servo m_esc;
    bool  m_enabled ;
    int m_velocity; // in %
    bool processingStartup;
 
 
protected:
    virtual void process(float timestep);
};
 
#endif // __BRUSHLESSMOTOR_H__