adrobo / adrobo

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

Dependencies:   QEI SoftwarePWM

Fork of adrobo by yasuo hayashibara

Motor.h@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 // Chiba Institute of Technology
yasuohayashibara 0:4508c5b68135 2
yasuohayashibara 0:4508c5b68135 3 #ifndef MBED_MOTOR_H
yasuohayashibara 0:4508c5b68135 4 #define MBED_MOTOR_H
yasuohayashibara 0:4508c5b68135 5
yasuohayashibara 0:4508c5b68135 6 #include "mbed.h"
yasuohayashibara 0:4508c5b68135 7
yasuohayashibara 0:4508c5b68135 8 /** Class to control a L293E motor driver on PWM out pin
yasuohayashibara 0:4508c5b68135 9 *
yasuohayashibara 0:4508c5b68135 10 * Example:
yasuohayashibara 0:4508c5b68135 11 * @code
yasuohayashibara 0:4508c5b68135 12 * // Motor Control
yasuohayashibara 0:4508c5b68135 13 * #include "mbed.h"
yasuohayashibara 0:4508c5b68135 14 * #include "Motor.h"
yasuohayashibara 0:4508c5b68135 15 *
yasuohayashibara 0:4508c5b68135 16 * Motor motor(A1, A2);
yasuohayashibara 0:4508c5b68135 17 *
yasuohayashibara 0:4508c5b68135 18 * int main(){
yasuohayashibara 0:4508c5b68135 19 * while(1) {
yasuohayashibara 0:4508c5b68135 20 * for (int i = -100; i < 100; i += 1) {
yasuohayashibara 0:4508c5b68135 21 * motor = (float)i/100.0f;
yasuohayashibara 0:4508c5b68135 22 * wait_ms(20);
yasuohayashibara 0:4508c5b68135 23 * }
yasuohayashibara 0:4508c5b68135 24 * }
yasuohayashibara 0:4508c5b68135 25 * }
yasuohayashibara 0:4508c5b68135 26 * @endcode
yasuohayashibara 0:4508c5b68135 27 */
yasuohayashibara 0:4508c5b68135 28
yasuohayashibara 0:4508c5b68135 29 class Motor
yasuohayashibara 0:4508c5b68135 30 {
yasuohayashibara 0:4508c5b68135 31 public:
yasuohayashibara 0:4508c5b68135 32 /** Create a new SoftwarePWM object on pwm pin
yasuohayashibara 0:4508c5b68135 33 *
yasuohayashibara 0:4508c5b68135 34 * @param Pin Pin on mbed to connect PWM device to
yasuohayashibara 0:4508c5b68135 35 */
yasuohayashibara 0:4508c5b68135 36 Motor(PinName pin0, PinName pin1);
yasuohayashibara 0:4508c5b68135 37
yasuohayashibara 0:4508c5b68135 38 void setMaxRatio(float max_ratio);
yasuohayashibara 0:4508c5b68135 39
yasuohayashibara 0:4508c5b68135 40 void period(float period);
yasuohayashibara 0:4508c5b68135 41
yasuohayashibara 0:4508c5b68135 42 void write(float value);
yasuohayashibara 0:4508c5b68135 43
yasuohayashibara 0:4508c5b68135 44 float read();
yasuohayashibara 0:4508c5b68135 45
yasuohayashibara 0:4508c5b68135 46 //#ifdef MBED_OPERATORS
yasuohayashibara 0:4508c5b68135 47 /** A operator shorthand for write()
yasuohayashibara 0:4508c5b68135 48 */
yasuohayashibara 0:4508c5b68135 49 Motor& operator= (float value) {
yasuohayashibara 0:4508c5b68135 50 write(value);
yasuohayashibara 0:4508c5b68135 51 return *this;
yasuohayashibara 0:4508c5b68135 52 }
yasuohayashibara 0:4508c5b68135 53
yasuohayashibara 0:4508c5b68135 54 Motor& operator= (Motor& rhs) {
yasuohayashibara 0:4508c5b68135 55 write(rhs.read());
yasuohayashibara 0:4508c5b68135 56 return *this;
yasuohayashibara 0:4508c5b68135 57 }
yasuohayashibara 0:4508c5b68135 58
yasuohayashibara 0:4508c5b68135 59 /** An operator shorthand for read()
yasuohayashibara 0:4508c5b68135 60 */
yasuohayashibara 0:4508c5b68135 61 operator float() {
yasuohayashibara 0:4508c5b68135 62 return read();
yasuohayashibara 0:4508c5b68135 63 }
yasuohayashibara 0:4508c5b68135 64 //#endif
yasuohayashibara 0:4508c5b68135 65
yasuohayashibara 0:4508c5b68135 66 private:
yasuohayashibara 0:4508c5b68135 67 PwmOut pwm0;
yasuohayashibara 0:4508c5b68135 68 PwmOut pwm1;
yasuohayashibara 0:4508c5b68135 69 float value_;
yasuohayashibara 0:4508c5b68135 70 float period_;
yasuohayashibara 0:4508c5b68135 71 float max_ratio_;
yasuohayashibara 0:4508c5b68135 72 };
yasuohayashibara 0:4508c5b68135 73
yasuohayashibara 0:4508c5b68135 74 #endif