Motor.h

00001 #ifndef MOTOR_H_
00002 #define MOTOR_H_
00003 
00004 #include <stdint.h>
00005 
00006 //#define USE_MOTOR0_SENSOR
00007 namespace MOTOR
00008 {
00009     #define FREE    0
00010     #define BACK    1
00011     #define FOR     2
00012     #define BRAKE   3
00013 
00014     #define MOUNTING_MOTOR_NUM 5
00015 
00016     #define MOTOR0_D1 directions[0]
00017     #define MOTOR0_D2 directions[1]
00018     #define MOTOR1_D1 directions[2]
00019     #define MOTOR1_D2 directions[3]
00020     #define MOTOR2_D1 directions[4]
00021     #define MOTOR2_D2 directions[5]
00022     #define MOTOR3_D1 directions[6]
00023     #define MOTOR3_D2 directions[7]
00024     #define MOTOR4_D1 directions[8]
00025     #define MOTOR4_D2 directions[9]
00026 
00027     #define MOTOR0_D1_PIN D3
00028     #define MOTOR0_D2_PIN D4
00029     #define MOTOR1_D1_PIN D5
00030     #define MOTOR1_D2_PIN D6
00031     #define MOTOR2_D1_PIN D8
00032     #define MOTOR2_D2_PIN D9
00033     #define MOTOR3_D1_PIN D12
00034     #define MOTOR3_D2_PIN A3
00035     #define MOTOR4_D1_PIN A1
00036     #define MOTOR4_D2_PIN A0
00037 
00038     #define MOTOR0_PWM_PIN D2
00039     #define MOTOR1_PWM_PIN D7
00040     #define MOTOR2_PWM_PIN D10
00041     #define MOTOR3_PWM_PIN D11
00042     #define MOTOR4_PWM_PIN A2
00043     
00044     #ifdef USE_MOTOR0_SENSOR
00045         #define MOTOR_START_NUM 1
00046     #else 
00047         #define MOTOR_START_NUM 0
00048     #endif
00049 
00050     typedef struct
00051     {
00052         union
00053         {
00054             struct
00055             {
00056                 unsigned int d2 : 1;
00057                 unsigned int d1 : 1;
00058                 unsigned int : 6;
00059             };
00060             uint8_t dir;
00061         };
00062         float pwm;
00063     }MotorStatus;
00064 
00065     class Motor
00066     {
00067         public:
00068             static void Initialize(void);
00069             static void Update(MotorStatus *status);
00070             static void SetDefault(void);
00071             static int SetStatus(float pwm);
00072     };
00073 }
00074 
00075 #endif