Diff: Motor.h

Revision:

0:3ca0289b7f8a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Fri Sep 03 04:58:03 2021 +0000
@@ -0,0 +1,78 @@
+#ifndef Motor_H
+#define Motor_H
+#include "mbed.h"
+ /* **************************************************************************
+ 
+@CCastrop
+cristiank.castrop@ecci.edu.co
+
+
+   datasheet https://www.mouser.com/catalog/specsheets/TCS3200-E11.pdf
+
+
+    S0      Frequency scaling 
+    S1      Frequency scaling 
+    S2      Photo diode selection 
+    S3      Photo diode selection 
+    OutFreq Frequency
+
+       -----------------------------------
+      |   ____________     ____________   |
+----> |  |            |   |            |  |                ___     ___ 
+Light |  | Photodiode |   |   Current  |--|---OUTPUT_FREQ |   |___|   |___
+----> |  |   Array    |---|     to     |  |
+      |  |            |   |  Frequency |  |
+      |  |____________|   |____________|  |
+      |       ^  ^             ^  ^       |
+       -------|--|-------------|--|-------
+              |  |             |  |
+             S2 S3            S0  S1
+             
+SO | S1 | OUTPUT FREQUENCY SCALING |        | S2 | S3 |   PHOTODIODE TYPE   |
+ 0 | 0  |        power down        |        |  0 | 0  |         Red         |
+ 0 | 1  |           2%             |        |  0 | 1  |         Blue        |
+ 1 | 0  |           20%            |        |  1 | 0  |  Clear (no filter)  |
+ 1 | 1  |           100%           |        |  1 | 1  |         Green       | 
+             
+******************************************************************************/
+
+
+
+class MotorContinuo {
+  public:
+  
+    MotorContinuo(PinName L1, PinName L2, PinName speedPin); // declaracion del Objeto
+    
+    void Forward();     // Da un sentido de giro al motor
+    void Back();        // Genera un sentido de giro contrario al de Forward
+    void Stop();        // Detiene el motor dejando el movimiento libre
+    void StopT();       // Detiene el motor truncando o enclavando el movimiento(Lo mantiene quieto).
+    void SpeedDuty(int v);   // Varia la velocidad de giro del motor de 0 a 100%
+    void SpinLength_ms(float t);  // Duración del giro en ms
+    void SpinLength(float t);  // Duración del giro
+    
+    float GetSpeed();   // Return Duty Cycle of PWM in % de 0 a 100
+    
+  private:
+    DigitalOut _L1;
+    DigitalOut _L2;
+    PwmOut _speedPin;
+    
+
+};
+#endif
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