Diff: motor.h

Revision:

2:a8bbf677e774

Child:

3:901d18b901b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Thu Aug 06 00:19:29 2015 +0000
@@ -0,0 +1,98 @@
+/**
+ * @file   : motor.h (1.0)
+ * @brief  : control moter
+ * @author : Yohei SAITO(, Shinnosuke KOIKE)
+ * @date   : 2015/08/04
+ */
+
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "mbed.h"
+
+class Motor {
+public:
+    Motor(PinName normalDirect, PinName reverseDirect, PinName pwm);
+    int  setLimit(float powerLimit = 1);
+    void setFlequency(float correctFlequency);
+    void run(float power); // input -1 ~ 1
+    void brake(void);
+
+private:
+    float limit;
+    PwmOut* powerLevel;
+    DigitalOut normal;
+    DigitalOut reverse;
+    void rotateNormal(void);
+    void rotateReverse(void);
+};
+
+// initialize
+Motor::Motor(PinName normalDirect, PinName reverseDirect, PinName pwm):
+    normal(normalDirect), reverse(reverseDirect) {
+    powerLevel = new PwmOut(pwm);
+}
+
+// set flequency
+void Motor::setFlequency(float correctFlequency) {
+    powerLevel->period(1 / correctFlequency);
+}
+
+// set power limit
+int Motor::setLimit(float powerLimit) {
+    if (powerLimit > 1 || powerLimit < -1) return 1;
+
+    limit = powerLimit;
+    return 0;
+}
+
+// run moter
+void Motor::run(float power) {
+    if (power > 1)  power = 1;
+    if (power < -1) power = -1;
+    if (power < 0) {
+        powerLevel->write(-power * limit);
+        rotateReverse();
+    } else {
+        powerLevel->write(power * limit);
+        rotateNormal();
+    }
+}
+
+// rotate in the clockwise
+void Motor::rotateNormal(void) {
+    normal  = 1;
+    reverse = 0;
+}
+
+// rotate in the anticlockwise
+void Motor::rotateReverse(void) {
+    normal  = 0;
+    reverse = 1;
+}
+
+// brake
+void Motor::brake(void) {
+    normal  = 1;
+    reverse = 1;
+    powerLevel->write(limit);
+}
+
+#endif
+
+/*
+ * example program
+
+#include "mbed.h"
+#include "motor.h"
+
+int main(void) {
+    Motor motor(D4, D7, D9);
+    motor.setLimit(0.8);
+    while (1) {
+        motor.run(-0.2);    // Then D4->Low   D7->High  D9(duty) = 0.2 * 0.8 = 0.16
+        motor.run(2);       // Then D4->High  D7->Low   D9(duty) = 1.0 * 0.8 = 0.8
+    }
+}
+ */
+ 
\ No newline at end of file