ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asservissement/Motor.h@62:454cd844fe1e, 2015-04-09 (annotated)

Committer:
Jagang
Date:
Thu Apr 09 17:05:06 2015 +0000
Revision:
62:454cd844fe1e
Parent:
56:eb0600022463 
asserv plan b

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 62:454cd844fe1e 1 #ifndef MOTOR_H
Jagang 62:454cd844fe1e 2 #define MOTOR_H
Jagang 62:454cd844fe1e 3
Near32 36:54f86bc6fd80 4 #include "mbed.h"
Near32 36:54f86bc6fd80 5
Near32 36:54f86bc6fd80 6 /** Motor
Near32 36:54f86bc6fd80 7 * Classe permettant de controler un moteur
Near32 36:54f86bc6fd80 8 */
Near32 36:54f86bc6fd80 9 class Motor
Near32 36:54f86bc6fd80 10 {
Near32 36:54f86bc6fd80 11 private:
Jagang 40:83ce8d1072ef 12 PwmOut pwm;
Jagang 40:83ce8d1072ef 13 DigitalOut dir;
Near32 36:54f86bc6fd80 14 bool inverse;
Near32 36:54f86bc6fd80 15 float speed;
Near32 36:54f86bc6fd80 16
Near32 36:54f86bc6fd80 17 public:
Near32 36:54f86bc6fd80 18 /** Création d'un moteur
Near32 36:54f86bc6fd80 19 *
Near32 36:54f86bc6fd80 20 * @param pwm Pin sur laquelle sort la PWM
Near32 36:54f86bc6fd80 21 * @param dir Pin sur laquelle sort le bit de direction
Near32 36:54f86bc6fd80 22 */
Jagang 40:83ce8d1072ef 23 Motor(PinName pin_pwm, PinName pin_dir): pwm(pin_pwm), dir(pin_dir)
Near32 36:54f86bc6fd80 24 {
Near32 36:54f86bc6fd80 25 inverse = false;
Near32 36:54f86bc6fd80 26 speed = 0.0f;
Jagang 40:83ce8d1072ef 27 pwm.period_us(10);
Jagang 40:83ce8d1072ef 28 pwm = 0.0f;
Near32 36:54f86bc6fd80 29
Near32 36:54f86bc6fd80 30 }
Jagang 40:83ce8d1072ef 31
Jagang 40:83ce8d1072ef 32 virtual ~Motor(){}
Near32 36:54f86bc6fd80 33
Near32 36:54f86bc6fd80 34 /** Fixe la vitesse du moteur
Near32 36:54f86bc6fd80 35 *
Near32 36:54f86bc6fd80 36 * @param s Vitesse du moteur entre -1 et 1
Near32 36:54f86bc6fd80 37 */
Near32 36:54f86bc6fd80 38 void setSpeed(float s)
Near32 36:54f86bc6fd80 39 {
Near32 42:fcb48e2fc426 40 float abss = abs(s);
Jagang 40:83ce8d1072ef 41 speed = s;
Near32 42:fcb48e2fc426 42 pwm = abss;
Jagang 40:83ce8d1072ef 43 if(s > 0)
Jagang 40:83ce8d1072ef 44 dir = !inverse;
Near32 36:54f86bc6fd80 45 else
Jagang 40:83ce8d1072ef 46 dir = inverse;
Near32 36:54f86bc6fd80 47 }
Near32 36:54f86bc6fd80 48
Near32 36:54f86bc6fd80 49 /** Retourne la vitesse théorique du moteur
Near32 36:54f86bc6fd80 50 *
Near32 36:54f86bc6fd80 51 * @return Vitesse du moteur entre -1 et 1
Near32 36:54f86bc6fd80 52 */
Near32 36:54f86bc6fd80 53 float getSpeed(){return speed;}
Near32 36:54f86bc6fd80 54
Near32 36:54f86bc6fd80 55 /** Fixe l'invesrion de polarité
Near32 36:54f86bc6fd80 56 *
Near32 36:54f86bc6fd80 57 * Exemple :
Near32 36:54f86bc6fd80 58 * @code
Near32 36:54f86bc6fd80 59 * moteur.setSpeed(1); // le moteur tourne à pleine vitesse dans le sens trigo
Near32 36:54f86bc6fd80 60 * moteur.setInverse(true); // le moteur tourne à pleine vitesse dans le sens anti-trigo
Near32 36:54f86bc6fd80 61 * moteur.setSpeed(-1); // le moteur tourne à pleine vitesse dans le sens trigo
Near32 36:54f86bc6fd80 62 * @endcode
Near32 36:54f86bc6fd80 63 *
Near32 36:54f86bc6fd80 64 * @param i Inversion de polarité
Near32 36:54f86bc6fd80 65 */
Near32 36:54f86bc6fd80 66 void setInverse(bool i)
Near32 36:54f86bc6fd80 67 {
Near32 36:54f86bc6fd80 68 inverse = i;
Jagang 56:eb0600022463 69
Jagang 56:eb0600022463 70 setSpeed(speed);
Near32 36:54f86bc6fd80 71 }
Near32 36:54f86bc6fd80 72
Near32 36:54f86bc6fd80 73 /** Retourne l'état d'inversion de polarité
Near32 36:54f86bc6fd80 74 *
Near32 36:54f86bc6fd80 75 * @return True ou False
Near32 36:54f86bc6fd80 76 */
Jagang 40:83ce8d1072ef 77 bool getInverse(){return inverse;}
Near32 36:54f86bc6fd80 78
Jagang 62:454cd844fe1e 79 };
Jagang 62:454cd844fe1e 80
Jagang 62:454cd844fe1e 81
Jagang 62:454cd844fe1e 82 #endif