Quadrifoglio / kohiMD

小日向さんのMDライブラリ

Dependents:   00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21 ... more

kohiMD.h@10:4c656817ca59, 2022-06-11 (annotated)

Committer:
THtakahiro702286
Date:
Sat Jun 11 07:21:16 2022 +0000
Revision:
10:4c656817ca59
Parent:
5:89c4237ef94a 
serial delete

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 1:87d96da7a474 1 #ifndef _KOHIMD_H_
THtakahiro702286 1:87d96da7a474 2 #define _KOHIMD_H_
THtakahiro702286 1:87d96da7a474 3
THtakahiro702286 1:87d96da7a474 4 /**
THtakahiro702286 1:87d96da7a474 5 * Includes
THtakahiro702286 1:87d96da7a474 6 */
THtakahiro702286 1:87d96da7a474 7 #include "mbed.h"
THtakahiro702286 1:87d96da7a474 8 #include "lpf.h"
THtakahiro702286 1:87d96da7a474 9
THtakahiro702286 1:87d96da7a474 10 /**
THtakahiro702286 1:87d96da7a474 11 *1pin blue motor driver :)
THtakahiro702286 1:87d96da7a474 12 */
THtakahiro702286 1:87d96da7a474 13
THtakahiro702286 1:87d96da7a474 14 class KohiMD
THtakahiro702286 1:87d96da7a474 15 {
THtakahiro702286 1:87d96da7a474 16 public:
THtakahiro702286 1:87d96da7a474 17 /**
THtakahiro702286 1:87d96da7a474 18 *小日向さんのロボカップ用モータードライバのライブラリです
THtakahiro702286 1:87d96da7a474 19 *
THtakahiro702286 1:87d96da7a474 20 *@param pwmPin PWM出力ピン
THtakahiro702286 1:87d96da7a474 21 */
THtakahiro702286 1:87d96da7a474 22 KohiMD(PinName pwmPin);
THtakahiro702286 1:87d96da7a474 23
THtakahiro702286 1:87d96da7a474 24 /**
THtakahiro702286 1:87d96da7a474 25 *モータードライバに出力
THtakahiro702286 1:87d96da7a474 26 *
THtakahiro702286 1:87d96da7a474 27 *@param speed -1.0 ~ 1.0
THtakahiro702286 1:87d96da7a474 28 */
THtakahiro702286 1:87d96da7a474 29 void setSpeed(double speed_);
THtakahiro702286 1:87d96da7a474 30
THtakahiro702286 1:87d96da7a474 31 private:
THtakahiro702286 1:87d96da7a474 32 PwmOut pwmMD;
THtakahiro702286 1:87d96da7a474 33 double _pwmMD ,speed;
THtakahiro702286 1:87d96da7a474 34 Thread threadMD;
THtakahiro702286 1:87d96da7a474 35 void MDloop();
THtakahiro702286 1:87d96da7a474 36 lpf mdlpf;
THtakahiro702286 1:87d96da7a474 37 Ticker drive;
THtakahiro702286 5:89c4237ef94a 38 // Serial pc;
THtakahiro702286 1:87d96da7a474 39 };
THtakahiro702286 1:87d96da7a474 40
THtakahiro702286 1:87d96da7a474 41 #endif