Miya Miyagawa / Mbed 2 deprecated Orewotaosita

If you wont to knock me down, look this file...

Dependencies:   mbed Servo

Output/Motor/Motor.h@0:4df75b08b14a, 2019-05-03 (annotated)

Committer:
Ryosei
Date:
Fri May 03 11:47:27 2019 +0000
Revision:
0:4df75b08b14a
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ryosei 0:4df75b08b14a 1 #ifndef MOTOR_H_
Ryosei 0:4df75b08b14a 2 #define MOTOR_H_
Ryosei 0:4df75b08b14a 3
Ryosei 0:4df75b08b14a 4 #include <stdint.h>
Ryosei 0:4df75b08b14a 5
Ryosei 0:4df75b08b14a 6 //#define USE_MOTOR0_SENSOR
Ryosei 0:4df75b08b14a 7 namespace MOTOR
Ryosei 0:4df75b08b14a 8 {
Ryosei 0:4df75b08b14a 9 #define FREE 0
Ryosei 0:4df75b08b14a 10 #define BACK 1
Ryosei 0:4df75b08b14a 11 #define FOR 2
Ryosei 0:4df75b08b14a 12 #define BRAKE 3
Ryosei 0:4df75b08b14a 13
Ryosei 0:4df75b08b14a 14 #define MOUNTING_MOTOR_NUM 5
Ryosei 0:4df75b08b14a 15
Ryosei 0:4df75b08b14a 16 #define MOTOR0_D1 directions[0]
Ryosei 0:4df75b08b14a 17 #define MOTOR0_D2 directions[1]
Ryosei 0:4df75b08b14a 18 #define MOTOR1_D1 directions[2]
Ryosei 0:4df75b08b14a 19 #define MOTOR1_D2 directions[3]
Ryosei 0:4df75b08b14a 20 #define MOTOR2_D1 directions[4]
Ryosei 0:4df75b08b14a 21 #define MOTOR2_D2 directions[5]
Ryosei 0:4df75b08b14a 22 #define MOTOR3_D1 directions[6]
Ryosei 0:4df75b08b14a 23 #define MOTOR3_D2 directions[7]
Ryosei 0:4df75b08b14a 24 #define MOTOR4_D1 directions[8]
Ryosei 0:4df75b08b14a 25 #define MOTOR4_D2 directions[9]
Ryosei 0:4df75b08b14a 26
Ryosei 0:4df75b08b14a 27 #define MOTOR0_D1_PIN D3
Ryosei 0:4df75b08b14a 28 #define MOTOR0_D2_PIN D4
Ryosei 0:4df75b08b14a 29 #define MOTOR1_D1_PIN D5
Ryosei 0:4df75b08b14a 30 #define MOTOR1_D2_PIN D6
Ryosei 0:4df75b08b14a 31 #define MOTOR2_D1_PIN D8
Ryosei 0:4df75b08b14a 32 #define MOTOR2_D2_PIN D9
Ryosei 0:4df75b08b14a 33 #define MOTOR3_D1_PIN D12
Ryosei 0:4df75b08b14a 34 #define MOTOR3_D2_PIN A3
Ryosei 0:4df75b08b14a 35 #define MOTOR4_D1_PIN A1
Ryosei 0:4df75b08b14a 36 #define MOTOR4_D2_PIN A0
Ryosei 0:4df75b08b14a 37
Ryosei 0:4df75b08b14a 38 #define MOTOR0_PWM_PIN D2
Ryosei 0:4df75b08b14a 39 #define MOTOR1_PWM_PIN D7
Ryosei 0:4df75b08b14a 40 #define MOTOR2_PWM_PIN D10
Ryosei 0:4df75b08b14a 41 #define MOTOR3_PWM_PIN D11
Ryosei 0:4df75b08b14a 42 #define MOTOR4_PWM_PIN A2
Ryosei 0:4df75b08b14a 43
Ryosei 0:4df75b08b14a 44 #ifdef USE_MOTOR0_SENSOR
Ryosei 0:4df75b08b14a 45 #define MOTOR_START_NUM 1
Ryosei 0:4df75b08b14a 46 #else
Ryosei 0:4df75b08b14a 47 #define MOTOR_START_NUM 0
Ryosei 0:4df75b08b14a 48 #endif
Ryosei 0:4df75b08b14a 49
Ryosei 0:4df75b08b14a 50 typedef struct
Ryosei 0:4df75b08b14a 51 {
Ryosei 0:4df75b08b14a 52 union
Ryosei 0:4df75b08b14a 53 {
Ryosei 0:4df75b08b14a 54 struct
Ryosei 0:4df75b08b14a 55 {
Ryosei 0:4df75b08b14a 56 unsigned int d2 : 1;
Ryosei 0:4df75b08b14a 57 unsigned int d1 : 1;
Ryosei 0:4df75b08b14a 58 unsigned int : 6;
Ryosei 0:4df75b08b14a 59 };
Ryosei 0:4df75b08b14a 60 uint8_t dir;
Ryosei 0:4df75b08b14a 61 };
Ryosei 0:4df75b08b14a 62 float pwm;
Ryosei 0:4df75b08b14a 63 }MotorStatus;
Ryosei 0:4df75b08b14a 64
Ryosei 0:4df75b08b14a 65 class Motor
Ryosei 0:4df75b08b14a 66 {
Ryosei 0:4df75b08b14a 67 public:
Ryosei 0:4df75b08b14a 68 static void Initialize(void);
Ryosei 0:4df75b08b14a 69 static void Update(MotorStatus *status);
Ryosei 0:4df75b08b14a 70 static void SetDefault(void);
Ryosei 0:4df75b08b14a 71 static int SetStatus(float pwm);
Ryosei 0:4df75b08b14a 72 };
Ryosei 0:4df75b08b14a 73 }
Ryosei 0:4df75b08b14a 74
Ryosei 0:4df75b08b14a 75 #endif