Tomo Suzu
/
DMdriver
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Revision 0:d7d8bd043212, committed 2018-03-20
- Comitter:
- Tomo073
- Date:
- Tue Mar 20 12:42:45 2018 +0000
- Commit message:
- 2018/3/20
Changed in this revision
| DMdriver.cpp | Show annotated file Show diff for this revision Revisions of this file |
| DMdriver.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r d7d8bd043212 DMdriver.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DMdriver.cpp Tue Mar 20 12:42:45 2018 +0000
@@ -0,0 +1,151 @@
+#include "DMdriver.h"
+#include "mbed.h"
+
+Driver::Driver(PinName sda, PinName scl) : i2c(sda, scl){
+}
+
+//六輪車
+void Driver::motor(int ch1, int ch2, int ch3, int ch4, int ch5, int ch6){
+ char data[6];
+ int ch[] = {ch1, ch2, ch3, ch4, ch5, ch6};
+
+ //100超えちゃダメだぞ
+ //符号も判定しなきゃダメだぞ
+ for(int i = 0; i < 6; i++){
+
+ if(ch[i] >= 0){
+ if(ch[i] > 100) ch[i] = 100;
+ if(!dir[i]) flag = true;
+
+ dir[i] = true;
+ data[i] = ch[i];
+ }else{
+ if(ch[i] < -100) ch[i] = -100;
+ if(dir[i]) flag = true;
+
+ dir[i] = false;
+ ch[i] *= -1;
+ data[i] = ch[i] | 0x80;
+ }
+ }
+
+ if(flag){
+ char zero[6] = {};
+ i2c.write(address, zero, 6);
+ flag = false;
+ }
+ //送信！！
+ i2c.write(address, data, 6);
+}
+
+//五輪車
+void Driver::motor(int ch1, int ch2, int ch3, int ch4, int ch5){
+ char data[6];
+ int ch[] = {ch1, ch2, ch3, ch4, ch5};
+
+ //100超えちゃダメだぞ
+ //符号も判定しなきゃダメだぞ
+ for(int i = 0; i < 5; i++){
+
+ if(ch[i] >= 0){
+ if(ch[i] > 100) ch[i] = 100;
+ if(!dir[i]) flag = true;
+
+ dir[i] = true;
+ data[i] = ch[i];
+ }else{
+ if(ch[i] < -100) ch[i] = -100;
+ if(dir[i]) flag = true;
+
+ dir[i] = false;
+ ch[i] *= -1;
+ data[i] = ch[i] | 0x80;
+ }
+ }
+ //空データだよ
+ data[5] = 0x00;
+
+
+ if(flag){
+ char zero[6] = {};
+ i2c.write(address, zero, 6);
+ flag = false;
+ }
+ //送信！！
+ i2c.write(address, data, 6);
+}
+
+//四輪車
+void Driver::motor(int ch1, int ch2, int ch3, int ch4){
+ char data[6];
+ int ch[] = {ch1, ch2, ch3, ch4};
+
+
+ for(int i = 0; i < 4; i++){
+
+ if(ch[i] >= 0){
+ if(ch[i] > 100) ch[i] = 100;
+ if(!dir[i]) flag = true;
+
+ dir[i] = true;
+ data[i] = ch[i];
+ }else{
+ if(ch[i] < -100) ch[i] = -100;
+ if(dir[i]) flag = true;
+
+ dir[i] = false;
+ ch[i] *= -1;
+ data[i] = ch[i] | 0x80;
+ }
+ }
+ //空データだよ
+ data[4] = 0x00;
+ data[5] = 0x00;
+
+ if(flag){
+ char zero[6] = {};
+ i2c.write(address, zero, 6);
+ flag = false;
+ }
+ //送信！！
+ i2c.write(address, data, 6);
+}
+
+//三輪車
+void Driver::motor(int ch1, int ch2, int ch3){
+ char data[6];
+ int ch[] = {ch1, ch2, ch3};
+
+ //100超えちゃダメだぞ
+ //符号も判定しなきゃダメだぞ
+ for(int i = 0; i < 6; i++){
+
+ if(ch[i] >= 0){
+ if(ch[i] > 100) ch[i] = 100;
+ if(!dir[i]) flag = true;
+
+ dir[i] = true;
+ data[i] = ch[i];
+ }else{
+ if(ch[i] < -100) ch[i] = -100;
+ if(dir[i]) flag = true;
+
+ dir[i] = false;
+ ch[i] *= -1;
+ data[i] = ch[i] | 0x80;
+ }
+ }
+ //空データだよ
+ data[3] = 0x00;
+ data[4] = 0x00;
+ data[5] = 0x00;
+
+
+ if(flag){
+ char zero[6] = {};
+ i2c.write(address, zero, 6);
+ flag = false;
+ }
+ //送信！！
+ i2c.write(address, data, 6);
+}
\ No newline at end of file
diff -r 000000000000 -r d7d8bd043212 DMdriver.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DMdriver.h Tue Mar 20 12:42:45 2018 +0000
@@ -0,0 +1,27 @@
+#ifndef DMdriver_H_
+#define DMdriver_H_
+
+/*---------------------------------*/
+//ダイセンのモータードライバーが使えるよ！
+//サッカーロボット用だから３輪から６輪だけだよ！
+//モーターの強さは-100~100で入力してね！
+/*----------------------------------*/
+
+#include "mbed.h"
+
+class Driver{
+
+public:
+ Driver(PinName sda, PinName scl);
+ void motor(int ch1, int ch2, int ch3, int ch4, int ch5, int ch6);
+ void motor(int ch1, int ch2, int ch3, int ch4, int ch5);
+ void motor(int ch1, int ch2, int ch3, int ch4);
+ void motor(int ch1, int ch2, int ch3);
+
+private:
+ static const int address = 0x14;
+ I2C i2c;
+ bool dir[6], flag;
+};
+
+#endif
\ No newline at end of file