Takuma Hayashi / Motor_lib

Library for rolling motor

Motor_lib.cpp@0:e492422d50a7, 2020-03-17 (annotated)

Committer:
Sigma884
Date:
Tue Mar 17 12:30:18 2020 +0000
Revision:
0:e492422d50a7
commit for publish stability_seed2019_v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sigma884 0:e492422d50a7 1 #include "Motor_lib.h"
Sigma884 0:e492422d50a7 2 #include "mbed.h"
Sigma884 0:e492422d50a7 3
Sigma884 0:e492422d50a7 4 Motor_lib :: Motor_lib(PinName pin1, PinName pin2) : out1(pin1),out2(pin2){
Sigma884 0:e492422d50a7 5 mlib = this;
Sigma884 0:e492422d50a7 6 out1 = 0;
Sigma884 0:e492422d50a7 7 out2 = 0;
Sigma884 0:e492422d50a7 8 status = 0;
Sigma884 0:e492422d50a7 9 }
Sigma884 0:e492422d50a7 10
Sigma884 0:e492422d50a7 11 void Motor_lib :: turn_a(){
Sigma884 0:e492422d50a7 12 out1 = 1;
Sigma884 0:e492422d50a7 13 out2 = 0;
Sigma884 0:e492422d50a7 14 status = 1;
Sigma884 0:e492422d50a7 15 }
Sigma884 0:e492422d50a7 16
Sigma884 0:e492422d50a7 17 void Motor_lib :: turn_a(float power){
Sigma884 0:e492422d50a7 18 out1 = power;
Sigma884 0:e492422d50a7 19 out2 = 0;
Sigma884 0:e492422d50a7 20 status = power;
Sigma884 0:e492422d50a7 21 }
Sigma884 0:e492422d50a7 22
Sigma884 0:e492422d50a7 23 void Motor_lib :: turn_b(){
Sigma884 0:e492422d50a7 24 out1 = 0;
Sigma884 0:e492422d50a7 25 out2 = 1;
Sigma884 0:e492422d50a7 26 status = -1;
Sigma884 0:e492422d50a7 27 }
Sigma884 0:e492422d50a7 28
Sigma884 0:e492422d50a7 29 void Motor_lib :: turn_b(float power){
Sigma884 0:e492422d50a7 30 out1 = 0;
Sigma884 0:e492422d50a7 31 out2 = power;
Sigma884 0:e492422d50a7 32 status = power * -1;
Sigma884 0:e492422d50a7 33 }
Sigma884 0:e492422d50a7 34
Sigma884 0:e492422d50a7 35 void Motor_lib :: stop(){
Sigma884 0:e492422d50a7 36 out1 = 0;
Sigma884 0:e492422d50a7 37 out2 = 0;
Sigma884 0:e492422d50a7 38 status = 0;
Sigma884 0:e492422d50a7 39 }
Sigma884 0:e492422d50a7 40
Sigma884 0:e492422d50a7 41 void Motor_lib :: break_stop(float time){
Sigma884 0:e492422d50a7 42 out1 = 1;
Sigma884 0:e492422d50a7 43 out2 = 1;
Sigma884 0:e492422d50a7 44 status = 0;
Sigma884 0:e492422d50a7 45 stopTime.attach(mlib, &Motor_lib::stop, time);
Sigma884 0:e492422d50a7 46 }
Sigma884 0:e492422d50a7 47
Sigma884 0:e492422d50a7 48 void Motor_lib :: break_stop(){
Sigma884 0:e492422d50a7 49 out1 = 1;
Sigma884 0:e492422d50a7 50 out2 = 1;
Sigma884 0:e492422d50a7 51 status = 0;
Sigma884 0:e492422d50a7 52 stopTime.attach(mlib, &Motor_lib::stop, 0.1f);
Sigma884 0:e492422d50a7 53 }