NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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bot/motor_driver/motor_driver.cpp
- Committer:
- uchitake
- Date:
- 2017-08-30
- Revision:
- 17:6f52f4b1086a
- Parent:
- 14:a2d77d866d42
- Child:
- 19:3a62cbc6fee9
File content as of revision 17:6f52f4b1086a:
#include "motor_driver.h" MotorDriver::MotorDriver() : MDC(MDSDA, MDSCL), solenoid(solenoidPin) { MDC::MotorSTOP(); solenoid = 0; } MotorDriver::MotorDriver(PinName sda, PinName scl, PinName solPin) : MDC(sda, scl), solenoid(solPin) { MDC::MotorSTOP(); solenoid = 0; } void MotorDriver::moveSlider(float speed) { if(!arm.isResetted() && speed < 0) speed = 0; if(arm.isPushed() && speed > 0) speed = 0; MDC::write(ARM_MDC_ADDR, SLIDER_NUMBER, speed); } void MotorDriver::swing(float speed) { MDC::write(ARM_MDC_ADDR, SWORD_NUMBER, speed); } void MotorDriver::shakeHead(float speed) { MDC::write(ARM_MDC_ADDR, SHAKE_NUMBER, speed); } void MotorDriver::release() { solenoid = 1; } void MotorDriver::destroy(float speed) { write(ARM_MDC_ADDR, ARM_NUMBER, speed); } void MotorDriver::goXY(float X, float Y, float moment) { quadOmni.computeXY(X, Y, moment); for(int i = 0; i < 4; i++) { write(WHEEL_MDC_ADDR, i, quadOmni.getOutput(i)); } } void MotorDriver::goCircular(float r, float rad, float moment) { quadOmni.computeCircular(r, rad, moment); for(int i = 0; i < 4; i++) { write(WHEEL_MDC_ADDR, i, quadOmni.getOutput(i)); } }