Control de velocidad y dirección de giro de un motor PAP con la tarjeta F407. Se incluyen las librerías con la clase Motor.
Diff: Motor.h
- Revision:
- 0:3ca0289b7f8a
diff -r 000000000000 -r 3ca0289b7f8a Motor.h --- /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 + + + + + + + + + + + + + + +