Revision 0:be058264e889, committed 2017-09-08

Comitter:

Komazawa_sun

Date:

Fri Sep 08 03:31:04 2017 +0000

Commit message:

????;

Changed in this revision

diff -r 000000000000 -r be058264e889 MD10c.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MD10c.cpp	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,28 @@
+#include "MD10c.h"
+
+MD10c::MD10c(PinName dir_pin, PinName pwm_pin, bool _dir_flip)
+:   dir_out(dir_pin), 
+    pwm_out(pwm_pin)
+{
+    dir_flip = _dir_flip;
+}
+
+void MD10c::drive(double _pwm)
+{
+    bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
+    double pwm = fabs(_pwm);
+    
+    dir_out.write(dir);
+    pwm_out.write(pwm);
+    
+}
+
+void MD10c::drive(signed int _pwm, unsigned int max_pwm_abs)
+{
+    bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
+    double pwm = fabs((double)(max_pwm_abs / _pwm));
+    
+    dir_out.write(dir);
+    pwm_out.write(pwm);
+    
+}
\ No newline at end of file

diff -r 000000000000 -r be058264e889 MD10c.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MD10c.h	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,19 @@
+#ifndef MOTOR_DRIVER_MD10C_H
+#define MOTOR_DRIVER_MD10C_H
+
+#include "mbed.h"
+#include "MotorDriver.h"
+
+class MD10c : public MotorDriver
+{
+    public:
+        MD10c(PinName dir_pin, PinName pwm_pin, bool _dir_flip = false);
+        virtual void drive(double _pwm);
+        virtual void drive(signed int _pwm, unsigned int max_pwm_abs = 127);
+    private:
+        bool dir_flip;
+        DigitalOut dir_out;
+        PwmOut pwm_out;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r be058264e889 MotorDriver.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver.h	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,11 @@
+#ifndef MOTOR_DRIVER_H
+#define MOTOR_DRIVER_H
+
+class MotorDriver
+{
+    public:
+        virtual void drive(double _pwm) = 0;
+        virtual void drive(signed int _pwm, unsigned int max_pwm_abs = 127) = 0;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r be058264e889 TS120.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TS120.cpp	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,47 @@
+#include "TS120.h"
+
+TS120::TS120(PinName pwm_pin, bool _dir_flip, double _flont_range, double _back_range)
+:   pwm_out(pwm_pin)
+{
+    dir_flip = _dir_flip;
+    flont_range = _flont_range;
+    back_range = _back_range;
+    
+    drive(0);
+    wait_ms(100);
+}
+
+void TS120::drive(double _pwm)
+{
+    double pwm = _pwm;
+    
+    if(dir_flip == true)
+        pwm *= -1;
+        
+    if(_pwm > 0.0)
+        pwm *= flont_range;
+    else
+        pwm *= back_range;
+        
+    int pwm_us = (int)((pwm_max - pwm_min) / 2) * (pwm + 1) + pwm_min; 
+     
+    pwm_out.pulsewidth_us(pwm_us);  
+}
+
+void TS120::drive(signed int _pwm, unsigned int max_pwm_abs)
+{
+    
+    double pwm = (double)((1 / max_pwm_abs) * _pwm);
+    
+    if(dir_flip == true)
+        pwm *= -1;
+        
+    if(pwm > 0.0)
+        pwm *= flont_range;
+    else
+        pwm *= back_range;
+        
+    int pwm_us = (int)((pwm_max - pwm_min) / 2) * (pwm + 1) + pwm_min; 
+      
+    pwm_out.pulsewidth_us(pwm_us);
+}
\ No newline at end of file

diff -r 000000000000 -r be058264e889 TS120.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TS120.h	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,22 @@
+#ifndef MOTOR_DRIVER_TS120_H
+#define MOTOR_DRIVER_TS120_H
+
+#include "mbed.h"
+#include "MotorDriver.h"
+
+class TS120 : public MotorDriver
+{
+    public:
+        TS120(PinName pwm_pin, bool _dir_flip = false, double _flont_range = 1, double _back_range = 1);
+        virtual void drive(double _pwm);
+        virtual void drive(signed int _pwm, unsigned int max_pwm_abs = 127);
+    private:
+        bool dir_flip;
+        double flont_range;
+        double back_range;
+        PwmOut pwm_out;
+        static const int pwm_max = 2000;
+        static const int pwm_min = 1000;
+};
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r be058264e889 ThrowData_MD.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThrowData_MD.cpp	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,20 @@
+#include "ThrowData_MD.h"
+
+ThrowData::ThrowData(int _max_dig, bool _dir_flip)
+:   max_dig(_max_dig), dir_flip(_dir_flip)
+{
+}
+
+void ThrowData::drive(double _pwm)
+{
+    _target_data = (int)max_dig * _pwm;
+}
+
+void ThrowData::drive(signed int _pwm, unsigned int max_pwm_abs)
+{
+    _target_data = _pwm;
+}
+
+int ThrowData::get_output(){
+    return _target_data;
+}
\ No newline at end of file

diff -r 000000000000 -r be058264e889 ThrowData_MD.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThrowData_MD.h	Fri Sep 08 03:31:04 2017 +0000
@@ -0,0 +1,19 @@
+#ifndef THROW_DATA_H
+#define THROW_DATA_H
+
+#include "MotorDriver.h"
+
+class ThrowData : public MotorDriver
+{
+    public:
+        ThrowData(int _max_dig = 255, bool _dir_flip = false);
+        virtual void drive(double _pwm);
+        virtual void drive(signed int _pwm, unsigned int max_pwm_abs = 0);
+        int get_output();
+    private:
+        int max_dig;
+        bool dir_flip;
+        int _target_data;
+};
+
+#endif
\ No newline at end of file