hirromu takaki
hase(kari)
Diff: haseMD.h
- Revision:
- 0:24c2a636c6f0
diff -r 000000000000 -r 24c2a636c6f0 haseMD.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/haseMD.h Sat Jan 25 09:11:44 2020 +0000
@@ -0,0 +1,39 @@
+#ifndef _HASEMD_H_
+#define _HASEMD_H_
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+#include "lpf.h"
+
+/**
+ *1pin blue motor driver :)
+ */
+
+class HaseMD
+{
+public:
+ /**
+ *長谷川さんのロボカップ用モータードライバのライブラリです
+ *
+ *@param pwmPin PWM出力ピン
+ */
+ HaseMD(PinName pwmPin);
+
+ /**
+ *モータードライバに出力
+ *
+ *@param speed -1.0 ~ 1.0
+ */
+ void setSpeed(double speed_);
+
+private:
+ PwmOut pwmMD;
+ double _pwmMD ,speed;
+ Thread threadMD;
+ void MDloop();
+ lpf mdlpf;
+};
+
+#endif
\ No newline at end of file