chen ada / MOTOR

a dc_motor drive lib use two PWM IO to drive the dc_motor

Dependents:   Nucleo_F411RE_OS_Robot_Tank

Files at this revision

API Documentation at this revision

Revision 1:d31307e787fd, committed 2018-06-19

Comitter:
adaphoto
Date:
Tue Jun 19 12:24:42 2018 +0000
Parent:
0:cd71771d494f
Commit message:
??????

Changed in this revision

motodriver.cpp Show annotated file Show diff for this revision Revisions of this file
motodriver.h Show annotated file Show diff for this revision Revisions of this file 
diff -r cd71771d494f -r d31307e787fd motodriver.cpp
--- a/motodriver.cpp	Tue Jun 19 08:50:21 2018 +0000
+++ b/motodriver.cpp	Tue Jun 19 12:24:42 2018 +0000
@@ -9,11 +9,11 @@
 void Motor::init()
 {
     // Set initial condition of PWM
-    _pwm1.period(0.001);
+    _pwm1.period(0.001);  //初始化PWM的周期,参数的单位是s,0.001s=1ms,所以PWM周期是1KHz
     _pwm1 = 0;
     
     // Set initial condition of PWM
-    _pwm2.period(0.001);
+    _pwm2.period(0.001);  //初始化PWM的周期,参数的单位是s,0.001s=1ms,所以PWM周期是1KHz
     _pwm2 = 0;
 }
 

diff -r cd71771d494f -r d31307e787fd motodriver.h
--- a/motodriver.h	Tue Jun 19 08:50:21 2018 +0000
+++ b/motodriver.h	Tue Jun 19 12:24:42 2018 +0000
@@ -6,15 +6,17 @@
     public:
     Motor(PinName pwm1pin, PinName pwm2pin);
     
+    // 电机的开环控制函数,speed直接赋予PWM占空比,所以取值范围在0.0-1.0之间
     float Speed(float speed);
     
+    // 关闭电机控制函数
     void Stop();
     
     private:
     PwmOut _pwm1;
     PwmOut _pwm2;
     
-    /** Initialization. */
+    // 初始化函数
     void init();
 };