ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asservissement/Motor.h@42:fcb48e2fc426, 2015-03-18 (annotated)

Committer:
Near32
Date:
Wed Mar 18 13:47:40 2015 +0000
Revision:
42:fcb48e2fc426
Parent:
40:83ce8d1072ef
Child:
56:eb0600022463
liaison serie usb car le bluetooth est visiblement tr?s capricieux...; test de compilation et de debuggage par gdb en cours...

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:
Jagang 40:83ce8d1072ef 9 PwmOut pwm;
Jagang 40:83ce8d1072ef 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 */
Jagang 40:83ce8d1072ef 20 Motor(PinName pin_pwm, PinName pin_dir): pwm(pin_pwm), dir(pin_dir)
Near32 36:54f86bc6fd80 21 {
Near32 36:54f86bc6fd80 22 inverse = false;
Near32 36:54f86bc6fd80 23 speed = 0.0f;
Jagang 40:83ce8d1072ef 24 pwm.period_us(10);
Jagang 40:83ce8d1072ef 25 pwm = 0.0f;
Near32 36:54f86bc6fd80 26
Near32 36:54f86bc6fd80 27 }
Jagang 40:83ce8d1072ef 28
Jagang 40:83ce8d1072ef 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 42:fcb48e2fc426 37 float abss = abs(s);
Jagang 40:83ce8d1072ef 38 speed = s;
Near32 42:fcb48e2fc426 39 pwm = abss;
Jagang 40:83ce8d1072ef 40 if(s > 0)
Jagang 40:83ce8d1072ef 41 dir = !inverse;
Near32 36:54f86bc6fd80 42 else
Jagang 40:83ce8d1072ef 43 dir = inverse;
Near32 36:54f86bc6fd80 44 }
Near32 36:54f86bc6fd80 45
Near32 36:54f86bc6fd80 46 /** Retourne la vitesse théorique du moteur
Near32 36:54f86bc6fd80 47 *
Near32 36:54f86bc6fd80 48 * @return Vitesse du moteur entre -1 et 1
Near32 36:54f86bc6fd80 49 */
Near32 36:54f86bc6fd80 50 float getSpeed(){return speed;}
Near32 36:54f86bc6fd80 51
Near32 36:54f86bc6fd80 52 /** Fixe l'invesrion de polarité
Near32 36:54f86bc6fd80 53 *
Near32 36:54f86bc6fd80 54 * Exemple :
Near32 36:54f86bc6fd80 55 * @code
Near32 36:54f86bc6fd80 56 * moteur.setSpeed(1); // le moteur tourne à pleine vitesse dans le sens trigo
Near32 36:54f86bc6fd80 57 * moteur.setInverse(true); // le moteur tourne à pleine vitesse dans le sens anti-trigo
Near32 36:54f86bc6fd80 58 * moteur.setSpeed(-1); // le moteur tourne à pleine vitesse dans le sens trigo
Near32 36:54f86bc6fd80 59 * @endcode
Near32 36:54f86bc6fd80 60 *
Near32 36:54f86bc6fd80 61 * @param i Inversion de polarité
Near32 36:54f86bc6fd80 62 */
Near32 36:54f86bc6fd80 63 void setInverse(bool i)
Near32 36:54f86bc6fd80 64 {
Near32 36:54f86bc6fd80 65 inverse = i;
Near32 36:54f86bc6fd80 66 }
Near32 36:54f86bc6fd80 67
Near32 36:54f86bc6fd80 68 /** Retourne l'état d'inversion de polarité
Near32 36:54f86bc6fd80 69 *
Near32 36:54f86bc6fd80 70 * @return True ou False
Near32 36:54f86bc6fd80 71 */
Jagang 40:83ce8d1072ef 72 bool getInverse(){return inverse;}
Near32 36:54f86bc6fd80 73
Near32 36:54f86bc6fd80 74 };