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Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of
17robo_Practice1
by 
kusano kiyoshige
Diff: motor_drive.h
- Revision:
- 0:bf96e953cdb8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_drive.h Mon Jun 26 09:59:14 2017 +0000
@@ -0,0 +1,51 @@
+/*
+MotorDrive Name(cw, ccw, pwm);
+
+setup(Frequency, DutyLimit)
+MotorDrive関数のセットアップ
+pwm周波数,pwmの最高値を決める
+
+output(duty)
+dutyを出力する
+*/
+
+class MotorDrive
+{
+public :
+ MotorDrive (PinName Cw, PinName Ccw, PinName Pwm) : cw(Cw), ccw(Ccw), pwm(Pwm) {
+ cw = 0;
+ ccw = 0;
+ pwm = 0;
+ }
+
+ void setup(float Frequency, float Dutylimit) {
+ float Period = 1 / Frequency;
+ pwm.period(Period);
+ limit = Dutylimit;
+ }
+
+ void output(float duty) {
+ if (duty > 0) {
+ ccw = 0;
+ cw = 1;
+ if (duty > limit) {
+ duty = limit;
+ }
+ } else {
+ cw = 0;
+ ccw = 1;
+ if (duty < -limit) {
+ duty = -limit;
+ }
+ }
+
+ pwm = fabs(duty);
+ }
+
+private :
+ DigitalOut cw;
+ DigitalOut ccw;
+ PwmOut pwm;
+
+ float limit;
+};
\ No newline at end of file