ESCON_motor.h

00001 /**
00002 * @author Jinhyuk Yoon
00003 *
00004 * Designed to control ESCON via NUCELO-F767ZI
00005 
00006 **/
00007 
00008 
00009 #include "mbed.h"
00010 #define PI 3.14159265358979323846
00011 
00012 class ESCON_motor {
00013 private:
00014     DigitalOut enable_;
00015     DigitalOut dir_;
00016     PwmOut pwm_;
00017     double period;
00018     double duty_cycle;
00019     
00020     
00021 public:
00022     /* 
00023     * @param  _enable_out_pin  digital out pin name which controls enable.
00024     * @param  _dir_out_pin  digital out pin name which controls diretion.
00025     * @param  _pwm_out_pin  pwm out pin name whcih controls pwm signal.
00026     * @param  duty_cycle  value between 0.0 and 1.0. (0.5 means 50% duty cycle.)
00027     * @param motor_time_const  can be found in motor spec. Unit is millesecond(ms)
00028     */
00029     ESCON_motor(PinName _enable_out_pin, PinName _dir_out_pin, PinName _pwm_out_pin, double _duty_cycle, double motor_time_const);
00030     void enable(void);
00031     void disable(void);
00032     void CW(void);
00033     void CCW(void);
00034     void pwm(void);
00035     void pwmDutyCycleChange(double _duty_cycle);
00036 };