Motor.h

00001 #ifndef Motor_H
00002 #define Motor_H
00003 #include "mbed.h"
00004  /* **************************************************************************
00005  
00006 @CCastrop
00007 cristiank.castrop@ecci.edu.co
00008 
00009 
00010    datasheet https://www.mouser.com/catalog/specsheets/TCS3200-E11.pdf
00011 
00012 
00013     S0      Frequency scaling 
00014     S1      Frequency scaling 
00015     S2      Photo diode selection 
00016     S3      Photo diode selection 
00017     OutFreq Frequency
00018 
00019        -----------------------------------
00020       |   ____________     ____________   |
00021 ----> |  |            |   |            |  |                ___     ___ 
00022 Light |  | Photodiode |   |   Current  |--|---OUTPUT_FREQ |   |___|   |___
00023 ----> |  |   Array    |---|     to     |  |
00024       |  |            |   |  Frequency |  |
00025       |  |____________|   |____________|  |
00026       |       ^  ^             ^  ^       |
00027        -------|--|-------------|--|-------
00028               |  |             |  |
00029              S2 S3            S0  S1
00030              
00031 SO | S1 | OUTPUT FREQUENCY SCALING |        | S2 | S3 |   PHOTODIODE TYPE   |
00032  0 | 0  |        power down        |        |  0 | 0  |         Red         |
00033  0 | 1  |           2%             |        |  0 | 1  |         Blue        |
00034  1 | 0  |           20%            |        |  1 | 0  |  Clear (no filter)  |
00035  1 | 1  |           100%           |        |  1 | 1  |         Green       | 
00036              
00037 ******************************************************************************/
00038 
00039 
00040 
00041 class MotorContinuo {
00042   public:
00043   
00044     MotorContinuo(PinName L1, PinName L2, PinName speedPin); // declaracion del Objeto
00045     
00046     void Forward();     // Da un sentido de giro al motor
00047     void Back();        // Genera un sentido de giro contrario al de Forward
00048     void Stop();        // Detiene el motor dejando el movimiento libre
00049     void StopT();       // Detiene el motor truncando o enclavando el movimiento(Lo mantiene quieto).
00050     void SpeedDuty(int v);   // Varia la velocidad de giro del motor de 0 a 100%
00051     void SpinLength_ms(float t);  // Duración del giro en ms
00052     void SpinLength(float t);  // Duración del giro
00053     
00054     float GetSpeed();   // Return Duty Cycle of PWM in % de 0 a 100
00055     
00056   private:
00057     DigitalOut _L1;
00058     DigitalOut _L2;
00059     PwmOut _speedPin;
00060     
00061 
00062 };
00063 #endif
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