LabRobocon / Mbed 2 deprecated LabRobocon_2017

Added one task

Dependencies:   mbed

Robot/src/motor.cpp@0:fb4269aa5fb4, 2017-05-26 (annotated)

Committer:
PicYusuke
Date:
Fri May 26 03:51:19 2017 +0000
Revision:
0:fb4269aa5fb4
hoge

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PicYusuke 0:fb4269aa5fb4 1 #include "motor.h"
PicYusuke 0:fb4269aa5fb4 2
PicYusuke 0:fb4269aa5fb4 3 float v_bat = 11.3f; //モータ用電源電圧
PicYusuke 0:fb4269aa5fb4 4
PicYusuke 0:fb4269aa5fb4 5 /*-----使用するPWMモジュール-----*/
PicYusuke 0:fb4269aa5fb4 6 PwmOut *motor_L = &pwm2;
PicYusuke 0:fb4269aa5fb4 7 PwmOut *motor_R = &pwm1;
PicYusuke 0:fb4269aa5fb4 8 PwmOut *motor_lift = &pwm3;
PicYusuke 0:fb4269aa5fb4 9 /*----------------------------*/
PicYusuke 0:fb4269aa5fb4 10
PicYusuke 0:fb4269aa5fb4 11 /*--------回転方向制御I/O--------*/
PicYusuke 0:fb4269aa5fb4 12 DigitalOut ml_dir(PB_3); //left motor
PicYusuke 0:fb4269aa5fb4 13 DigitalOut mr_dir(PB_4); //right motor
PicYusuke 0:fb4269aa5fb4 14 DigitalOut me_dir(PB_10); //lift motor (elevation)
PicYusuke 0:fb4269aa5fb4 15 /*-----------------------------*/
PicYusuke 0:fb4269aa5fb4 16
PicYusuke 0:fb4269aa5fb4 17 void Put_Vm_L(float v)
PicYusuke 0:fb4269aa5fb4 18 {
PicYusuke 0:fb4269aa5fb4 19 if(v < 0.0f)
PicYusuke 0:fb4269aa5fb4 20 {
PicYusuke 0:fb4269aa5fb4 21 ml_dir = 1;
PicYusuke 0:fb4269aa5fb4 22 (*motor_L).write(-v / v_bat);
PicYusuke 0:fb4269aa5fb4 23 }
PicYusuke 0:fb4269aa5fb4 24 else
PicYusuke 0:fb4269aa5fb4 25 {
PicYusuke 0:fb4269aa5fb4 26 ml_dir = 0;
PicYusuke 0:fb4269aa5fb4 27 (*motor_L).write(v / v_bat);
PicYusuke 0:fb4269aa5fb4 28 }
PicYusuke 0:fb4269aa5fb4 29 }
PicYusuke 0:fb4269aa5fb4 30
PicYusuke 0:fb4269aa5fb4 31 void Put_Vm_R(float v)
PicYusuke 0:fb4269aa5fb4 32 {
PicYusuke 0:fb4269aa5fb4 33 if(v < 0.0f)
PicYusuke 0:fb4269aa5fb4 34 {
PicYusuke 0:fb4269aa5fb4 35 mr_dir = 1;
PicYusuke 0:fb4269aa5fb4 36 (*motor_R).write(-v / v_bat);
PicYusuke 0:fb4269aa5fb4 37 }
PicYusuke 0:fb4269aa5fb4 38 else
PicYusuke 0:fb4269aa5fb4 39 {
PicYusuke 0:fb4269aa5fb4 40 mr_dir = 0;
PicYusuke 0:fb4269aa5fb4 41 (*motor_R).write(v / v_bat);
PicYusuke 0:fb4269aa5fb4 42 }
PicYusuke 0:fb4269aa5fb4 43 }
PicYusuke 0:fb4269aa5fb4 44
PicYusuke 0:fb4269aa5fb4 45 void Put_Vm_Lift(float v)
PicYusuke 0:fb4269aa5fb4 46 {
PicYusuke 0:fb4269aa5fb4 47 if(v > 0.0f)
PicYusuke 0:fb4269aa5fb4 48 {
PicYusuke 0:fb4269aa5fb4 49 me_dir = 1;
PicYusuke 0:fb4269aa5fb4 50 (*motor_lift).write(v / v_bat);
PicYusuke 0:fb4269aa5fb4 51 }
PicYusuke 0:fb4269aa5fb4 52 else
PicYusuke 0:fb4269aa5fb4 53 {
PicYusuke 0:fb4269aa5fb4 54 me_dir = 0;
PicYusuke 0:fb4269aa5fb4 55 (*motor_lift).write(-v / v_bat);
PicYusuke 0:fb4269aa5fb4 56 }
PicYusuke 0:fb4269aa5fb4 57 }