shindai
Dependents: linetrace tracer tracer tracer1 ... more
MotorDriver_SU.h
- Committer:
- NT32
- Date:
- 2014-09-17
- Revision:
- 0:e6c391eb8fac
File content as of revision 0:e6c391eb8fac:
#ifndef MBED_MOTORDRIVER_SU_H_ #define MBED_MOTORDRIVER_SU_H_ #include "mbed.h" #define MOTOR_SINGLE P0_2 #define MOTOR_DOUBLE P0_20 #define FREE 0x00 #define CW 0x01 #define CCW 0x02 #define STOP 0x03 class MotorDriver_SU{ public: MotorDriver_SU(PinName chip); void Drive(uint8_t channel, uint8_t direction, uint16_t velocity); private: BusOut * MotorDirect; DigitalOut _chip; union MCP4922 { uint16_t command; struct { //DAC data bits uint16_t D :12; //Output power down control bit uint8_t SHDN:1; //Outout gain select bit uint8_t GA :1; //Vref input buffer Control bit uint8_t BUF :1; //DACa or DACb select bit uint8_t AB :1; }bit; }; union MCP4922 dac; }; #endif