ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asservissement/Motor.h@36:54f86bc6fd80, 2015-03-08 (annotated)

Committer:
Near32
Date:
Sun Mar 08 21:24:27 2015 +0000
Revision:
36:54f86bc6fd80
Child:
40:83ce8d1072ef
Motor class; +TODO : bicycle thingy : solved.; TODO:; tester l'odometrie en mode "roue libre"

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Near32 36:54f86bc6fd80 1 #include "mbed.h"
Near32 36:54f86bc6fd80 2
Near32 36:54f86bc6fd80 3 /** Motor
Near32 36:54f86bc6fd80 4 * Classe permettant de controler un moteur
Near32 36:54f86bc6fd80 5 */
Near32 36:54f86bc6fd80 6 class Motor
Near32 36:54f86bc6fd80 7 {
Near32 36:54f86bc6fd80 8 private:
Near32 36:54f86bc6fd80 9 PwmOut* pwm;
Near32 36:54f86bc6fd80 10 DigitalOut* dir;
Near32 36:54f86bc6fd80 11 bool inverse;
Near32 36:54f86bc6fd80 12 float speed;
Near32 36:54f86bc6fd80 13
Near32 36:54f86bc6fd80 14 public:
Near32 36:54f86bc6fd80 15 /** Création d'un moteur
Near32 36:54f86bc6fd80 16 *
Near32 36:54f86bc6fd80 17 * @param pwm Pin sur laquelle sort la PWM
Near32 36:54f86bc6fd80 18 * @param dir Pin sur laquelle sort le bit de direction
Near32 36:54f86bc6fd80 19 */
Near32 36:54f86bc6fd80 20 Motor(PwmOut* pwm, DigitalOut* dir)
Near32 36:54f86bc6fd80 21 {
Near32 36:54f86bc6fd80 22 this->pwm = pwm;
Near32 36:54f86bc6fd80 23 this->dir = dir;
Near32 36:54f86bc6fd80 24 inverse = false;
Near32 36:54f86bc6fd80 25 speed = 0.0f;
Near32 36:54f86bc6fd80 26 this->pwm->period_us(10);
Near32 36:54f86bc6fd80 27
Near32 36:54f86bc6fd80 28 }
Near32 36:54f86bc6fd80 29 virtual ~Motor();
Near32 36:54f86bc6fd80 30
Near32 36:54f86bc6fd80 31 /** Fixe la vitesse du moteur
Near32 36:54f86bc6fd80 32 *
Near32 36:54f86bc6fd80 33 * @param s Vitesse du moteur entre -1 et 1
Near32 36:54f86bc6fd80 34 */
Near32 36:54f86bc6fd80 35 void setSpeed(float s)
Near32 36:54f86bc6fd80 36 {
Near32 36:54f86bc6fd80 37 if(s<= 1.0f && s >=-1.0f)
Near32 36:54f86bc6fd80 38 {
Near32 36:54f86bc6fd80 39 speed = fabs_(s);
Near32 36:54f86bc6fd80 40 inverse = (s <= 0.0f);
Near32 36:54f86bc6fd80 41 }
Near32 36:54f86bc6fd80 42 else
Near32 36:54f86bc6fd80 43 {
Near32 36:54f86bc6fd80 44 speed = 0.0f;
Near32 36:54f86bc6fd80 45 inverse = false;
Near32 36:54f86bc6fd80 46 }
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;
Near32 36:54f86bc6fd80 69 }
Near32 36:54f86bc6fd80 70
Near32 36:54f86bc6fd80 71 /** Retourne l'état d'inversion de polarité
Near32 36:54f86bc6fd80 72 *
Near32 36:54f86bc6fd80 73 * @return True ou False
Near32 36:54f86bc6fd80 74 */
Near32 36:54f86bc6fd80 75 bool setInverse(){return inverse;}
Near32 36:54f86bc6fd80 76
Near32 36:54f86bc6fd80 77 void update(float s)
Near32 36:54f86bc6fd80 78 {
Near32 36:54f86bc6fd80 79 this->setSpeed(s);
Near32 36:54f86bc6fd80 80
Near32 36:54f86bc6fd80 81 if(inverse)
Near32 36:54f86bc6fd80 82 dir->write(1);
Near32 36:54f86bc6fd80 83 else
Near32 36:54f86bc6fd80 84 dir->write(0);
Near32 36:54f86bc6fd80 85
Near32 36:54f86bc6fd80 86 pwm->write(speed);
Near32 36:54f86bc6fd80 87 }
Near32 36:54f86bc6fd80 88 };