調整中
Dependencies: mbed HMC6352 US015 TB6612FNG2 getGPS ATP3011
MotorDriver.h
- Committer:
- user_
- Date:
- 2021-10-24
- Revision:
- 6:1cda8471adc3
- Parent:
- Move.h@ 1:f6d4f374b130
- Child:
- 9:9221ef8d36a8
File content as of revision 6:1cda8471adc3:
// モータを制御する関数 #include "TB6612.h" TB6612 motor_a(D10,D6,D7); //モータA制御用(pwma,ain1,ain2) TB6612 motor_b(D11,D8,D9); //モータB制御用(pwmb,bin1,bin2) Serial pc(USBTX, USBRX); void MotorDriver(char input_data, float motor_speed) { switch (input_data) { case '1': // 停止 motor_a = 0; motor_b = 0; break; case '2': // 前進 motor_a = motor_speed; motor_b = motor_speed; break; case '3': // 後退 motor_a = -motor_speed; motor_b = -motor_speed; break; case '4': // 時計回りに回転 motor_a = motor_speed; motor_b = -motor_speed; break; case '5': // 反時計回りに回転 motor_a = -motor_speed; motor_b = motor_speed; break; case '6': // Aのみ正転 motor_a = motor_speed; break; case '7': // Bのみ正転 motor_b = motor_speed; break; case '8': // Aのみ逆転 motor_a = -motor_speed; break; case '9': // Bのみ逆転 motor_b = -motor_speed; break; default: // エラーメッセージを返す break; } pc.printf("%d", input_data); }