adrobo / adrobo

This library is used for student's experiment. Chiba Institute of Technology

Dependencies:   QEI SoftwarePWM

Fork of adrobo by yasuo hayashibara

Motor.cpp@1:45772cb4e01c, 2020-04-20 (annotated)

Committer:
yasuohayashibara
Date:
Mon Apr 20 04:07:37 2020 +0000
Revision:
1:45772cb4e01c
Parent:
0:4508c5b68135 
add required libraries

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yasuohayashibara 0:4508c5b68135 1 #include "mbed.h"
yasuohayashibara 0:4508c5b68135 2 #include "Motor.h"
yasuohayashibara 0:4508c5b68135 3
yasuohayashibara 0:4508c5b68135 4 #define max(a,b) (a > b ? a : b)
yasuohayashibara 0:4508c5b68135 5 #define min(a,b) (a > b ? b : a)
yasuohayashibara 0:4508c5b68135 6
yasuohayashibara 0:4508c5b68135 7 Motor::Motor(PinName pin0, PinName pin1)
yasuohayashibara 0:4508c5b68135 8 : pwm0(pin0), pwm1(pin1), max_ratio_(0.5f)
yasuohayashibara 0:4508c5b68135 9 {
yasuohayashibara 0:4508c5b68135 10 period(0.01f);
yasuohayashibara 0:4508c5b68135 11 write(0.0f);
yasuohayashibara 0:4508c5b68135 12 }
yasuohayashibara 0:4508c5b68135 13
yasuohayashibara 0:4508c5b68135 14 void Motor::setMaxRatio(float max_ratio)
yasuohayashibara 0:4508c5b68135 15 {
yasuohayashibara 0:4508c5b68135 16 max_ratio_ = max_ratio;
yasuohayashibara 0:4508c5b68135 17 }
yasuohayashibara 0:4508c5b68135 18
yasuohayashibara 0:4508c5b68135 19 void Motor::period(float period)
yasuohayashibara 0:4508c5b68135 20 {
yasuohayashibara 0:4508c5b68135 21 period_ = period;
yasuohayashibara 0:4508c5b68135 22 pwm0.period(period_);
yasuohayashibara 0:4508c5b68135 23 pwm1.period(period_);
yasuohayashibara 0:4508c5b68135 24 }
yasuohayashibara 0:4508c5b68135 25
yasuohayashibara 0:4508c5b68135 26 void Motor::write(float value)
yasuohayashibara 0:4508c5b68135 27 {
yasuohayashibara 0:4508c5b68135 28 value = min(max(value, -1.0f), 1.0f);
yasuohayashibara 0:4508c5b68135 29 value_ = value;
yasuohayashibara 0:4508c5b68135 30 pwm0 = value_ > 0.0f ? value_ : 0.0f;
yasuohayashibara 0:4508c5b68135 31 pwm1 = value_ < 0.0f ? -value_ : 0.0f;
yasuohayashibara 0:4508c5b68135 32 }
yasuohayashibara 0:4508c5b68135 33
yasuohayashibara 0:4508c5b68135 34 float Motor::read()
yasuohayashibara 0:4508c5b68135 35 {
yasuohayashibara 0:4508c5b68135 36 return value_;
yasuohayashibara 0:4508c5b68135 37 }