Diff: Robot/src/motor.cpp

Revision:

0:fb4269aa5fb4

diff -r 000000000000 -r fb4269aa5fb4 Robot/src/motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot/src/motor.cpp	Fri May 26 03:51:19 2017 +0000
@@ -0,0 +1,57 @@
+#include "motor.h"
+
+float v_bat = 11.3f;     //モータ用電源電圧
+
+/*-----使用するPWMモジュール-----*/
+PwmOut *motor_L = &pwm2;
+PwmOut *motor_R = &pwm1;
+PwmOut *motor_lift = &pwm3;
+/*----------------------------*/
+
+/*--------回転方向制御I/O--------*/
+DigitalOut ml_dir(PB_3);    //left motor
+DigitalOut mr_dir(PB_4);    //right motor
+DigitalOut me_dir(PB_10);    //lift motor (elevation)
+/*-----------------------------*/
+
+void Put_Vm_L(float v)
+{
+    if(v < 0.0f)
+    {
+        ml_dir = 1;
+        (*motor_L).write(-v / v_bat);
+    }
+    else
+    {
+        ml_dir = 0;
+        (*motor_L).write(v / v_bat);
+    }
+}
+
+void Put_Vm_R(float v)
+{
+    if(v < 0.0f)
+    {
+        mr_dir = 1;
+        (*motor_R).write(-v / v_bat);
+    }
+    else
+    {
+        mr_dir = 0;
+        (*motor_R).write(v / v_bat);
+    }
+}
+
+void Put_Vm_Lift(float v)
+{
+    if(v > 0.0f)
+    {
+        me_dir = 1;
+        (*motor_lift).write(v / v_bat);
+    }
+    else
+    {
+        me_dir = 0;
+        (*motor_lift).write(-v / v_bat);
+    }
+}
\ No newline at end of file