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@6:d4d97efd8881, 2021-03-04 (annotated)
- Committer:
- piroro4560
- Date:
- Thu Mar 04 11:57:50 2021 +0000
- Revision:
- 6:d4d97efd8881
- Parent:
- 1:87d96da7a474
- Child:
- 7:d7e8402e6869
kohi
Who changed what in which revision?
User | Revision | Line number | New 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; |
piroro4560 | 6:d4d97efd8881 | 35 | void MDloop(); |
piroro4560 | 6:d4d97efd8881 | 36 | lpf mdlpf; |
THtakahiro702286 | 1:87d96da7a474 | 37 | Ticker drive; |
piroro4560 | 6:d4d97efd8881 | 38 | // BufferedSerial pc; |
THtakahiro702286 | 1:87d96da7a474 | 39 | }; |
THtakahiro702286 | 1:87d96da7a474 | 40 | |
THtakahiro702286 | 1:87d96da7a474 | 41 | #endif |