Diff: Output/Motor/Motor.h

Revision:

0:562021ed1ba9

Child:

1:e73cf2469f83

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Output/Motor/Motor.h	Sat Jan 13 13:33:09 2018 +0000
@@ -0,0 +1,74 @@
+#ifndef MOTOR_H_
+#define MOTOR_H_
+
+#include <stdint.h>
+
+namespace MOTOR
+{
+    #define FREE    0
+    #define BACK    1
+    #define FOR     2
+    #define BRAKE   3
+
+    #define MOUNTING_MOTOR_NUM (5 + 1)  //MOTOR0の関係で+1
+
+    #define MOTOR0_D1 directions[0]
+    #define MOTOR0_D2 directions[1]
+    #define MOTOR1_D1 directions[2]
+    #define MOTOR1_D2 directions[3]
+    #define MOTOR2_D1 directions[4]
+    #define MOTOR2_D2 directions[5]
+    #define MOTOR3_D1 directions[6]
+    #define MOTOR3_D2 directions[7]
+    #define MOTOR4_D1 directions[8]
+    #define MOTOR4_D2 directions[9]
+    #define MOTOR5_D1 directions[10]
+    #define MOTOR6_D2 directions[11]
+
+    #define MOTOR0_D1_PIN NC
+    #define MOTOR0_D2_PIN NC
+    #define MOTOR1_D1_PIN D3
+    #define MOTOR1_D2_PIN D2
+    #define MOTOR2_D1_PIN D6
+    #define MOTOR2_D2_PIN D5
+    #define MOTOR3_D1_PIN D9
+    #define MOTOR3_D2_PIN D8
+    #define MOTOR4_D1_PIN D12
+    #define MOTOR4_D2_PIN D11
+    #define MOTOR5_D1_PIN A0
+    #define MOTOR5_D2_PIN A1
+
+    #define MOTOR0_PWM_PIN NC
+    #define MOTOR1_PWM_PIN D4
+    #define MOTOR2_PWM_PIN D7
+    #define MOTOR3_PWM_PIN D10
+    #define MOTOR4_PWM_PIN A2
+    #define MOTOR5_PWM_PIN A3
+
+    typedef struct
+    {
+        union
+        {
+            struct
+            {
+                unsigned int d2 : 1;
+                unsigned int d1 : 1;
+                unsigned int : 6;
+            };
+            uint8_t dir;
+        };
+        float pwm;
+    }MotorStatus;
+
+    class Motor
+    {
+        public:
+            static void Initialize(void);
+            static void Update(MotorStatus *status);
+            static void SetDefault(void);
+            static int SetStatus(float pwm);
+    };
+}
+
+#endif
+