Miya Miyagawa
/
Orewotaosita
If you wont to knock me down, look this file...
Output/Motor/Motor.h
- Committer:
- Ryosei
- Date:
- 2019-05-03
- Revision:
- 0:4df75b08b14a
File content as of revision 0:4df75b08b14a:
#ifndef MOTOR_H_ #define MOTOR_H_ #include <stdint.h> //#define USE_MOTOR0_SENSOR namespace MOTOR { #define FREE 0 #define BACK 1 #define FOR 2 #define BRAKE 3 #define MOUNTING_MOTOR_NUM 5 #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 MOTOR0_D1_PIN D3 #define MOTOR0_D2_PIN D4 #define MOTOR1_D1_PIN D5 #define MOTOR1_D2_PIN D6 #define MOTOR2_D1_PIN D8 #define MOTOR2_D2_PIN D9 #define MOTOR3_D1_PIN D12 #define MOTOR3_D2_PIN A3 #define MOTOR4_D1_PIN A1 #define MOTOR4_D2_PIN A0 #define MOTOR0_PWM_PIN D2 #define MOTOR1_PWM_PIN D7 #define MOTOR2_PWM_PIN D10 #define MOTOR3_PWM_PIN D11 #define MOTOR4_PWM_PIN A2 #ifdef USE_MOTOR0_SENSOR #define MOTOR_START_NUM 1 #else #define MOTOR_START_NUM 0 #endif 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