Quadrifoglio
小日向さんのMDライブラリ
Dependents: 00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21 ... more
Diff: kohiMD.h
- Revision:
- 1:87d96da7a474
- Child:
- 4:542898c657be
- Child:
- 5:89c4237ef94a
- Child:
- 6:d4d97efd8881
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/kohiMD.h Mon Jan 27 09:17:43 2020 +0000
@@ -0,0 +1,41 @@
+#ifndef _KOHIMD_H_
+#define _KOHIMD_H_
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+#include "lpf.h"
+
+/**
+ *1pin blue motor driver :)
+ */
+
+class KohiMD
+{
+public:
+ /**
+ *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
+ *
+ *@param pwmPin PWM出力ピン
+ */
+ KohiMD(PinName pwmPin);
+
+ /**
+ *モータードライバに出力
+ *
+ *@param speed -1.0 ~ 1.0
+ */
+ void setSpeed(double speed_);
+
+private:
+ PwmOut pwmMD;
+ double _pwmMD ,speed;
+ Thread threadMD;
+ void MDloop();
+ lpf mdlpf;
+ Ticker drive;
+ Serial pc;
+};
+
+#endif
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