2017 hongo b team
Dependents: CtrlMD 2017_Bteam_alpha_slave
TS120.h@0:be058264e889, 2017-09-08 (annotated)
- Committer:
- Komazawa_sun
- Date:
- Fri Sep 08 03:31:04 2017 +0000
- Revision:
- 0:be058264e889
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Komazawa_sun | 0:be058264e889 | 1 | #ifndef MOTOR_DRIVER_TS120_H |
Komazawa_sun | 0:be058264e889 | 2 | #define MOTOR_DRIVER_TS120_H |
Komazawa_sun | 0:be058264e889 | 3 | |
Komazawa_sun | 0:be058264e889 | 4 | #include "mbed.h" |
Komazawa_sun | 0:be058264e889 | 5 | #include "MotorDriver.h" |
Komazawa_sun | 0:be058264e889 | 6 | |
Komazawa_sun | 0:be058264e889 | 7 | class TS120 : public MotorDriver |
Komazawa_sun | 0:be058264e889 | 8 | { |
Komazawa_sun | 0:be058264e889 | 9 | public: |
Komazawa_sun | 0:be058264e889 | 10 | TS120(PinName pwm_pin, bool _dir_flip = false, double _flont_range = 1, double _back_range = 1); |
Komazawa_sun | 0:be058264e889 | 11 | virtual void drive(double _pwm); |
Komazawa_sun | 0:be058264e889 | 12 | virtual void drive(signed int _pwm, unsigned int max_pwm_abs = 127); |
Komazawa_sun | 0:be058264e889 | 13 | private: |
Komazawa_sun | 0:be058264e889 | 14 | bool dir_flip; |
Komazawa_sun | 0:be058264e889 | 15 | double flont_range; |
Komazawa_sun | 0:be058264e889 | 16 | double back_range; |
Komazawa_sun | 0:be058264e889 | 17 | PwmOut pwm_out; |
Komazawa_sun | 0:be058264e889 | 18 | static const int pwm_max = 2000; |
Komazawa_sun | 0:be058264e889 | 19 | static const int pwm_min = 1000; |
Komazawa_sun | 0:be058264e889 | 20 | }; |
Komazawa_sun | 0:be058264e889 | 21 | |
Komazawa_sun | 0:be058264e889 | 22 | #endif |