kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

sampleProgram

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_fuzi by kusano kiyoshige

motor_drive.h@0:bf96e953cdb8, 2017-06-26 (annotated)

Committer:
echo_piyo
Date:
Mon Jun 26 09:59:14 2017 +0000
Revision:
0:bf96e953cdb8
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 /*
echo_piyo 0:bf96e953cdb8 2 MotorDrive Name(cw, ccw, pwm);
echo_piyo 0:bf96e953cdb8 3
echo_piyo 0:bf96e953cdb8 4 setup(Frequency, DutyLimit)
echo_piyo 0:bf96e953cdb8 5 MotorDrive関数のセットアップ
echo_piyo 0:bf96e953cdb8 6 pwm周波数,pwmの最高値を決める
echo_piyo 0:bf96e953cdb8 7
echo_piyo 0:bf96e953cdb8 8 output(duty)
echo_piyo 0:bf96e953cdb8 9 dutyを出力する
echo_piyo 0:bf96e953cdb8 10 */
echo_piyo 0:bf96e953cdb8 11
echo_piyo 0:bf96e953cdb8 12 class MotorDrive
echo_piyo 0:bf96e953cdb8 13 {
echo_piyo 0:bf96e953cdb8 14 public :
echo_piyo 0:bf96e953cdb8 15 MotorDrive (PinName Cw, PinName Ccw, PinName Pwm) : cw(Cw), ccw(Ccw), pwm(Pwm) {
echo_piyo 0:bf96e953cdb8 16 cw = 0;
echo_piyo 0:bf96e953cdb8 17 ccw = 0;
echo_piyo 0:bf96e953cdb8 18 pwm = 0;
echo_piyo 0:bf96e953cdb8 19 }
echo_piyo 0:bf96e953cdb8 20
echo_piyo 0:bf96e953cdb8 21 void setup(float Frequency, float Dutylimit) {
echo_piyo 0:bf96e953cdb8 22 float Period = 1 / Frequency;
echo_piyo 0:bf96e953cdb8 23 pwm.period(Period);
echo_piyo 0:bf96e953cdb8 24 limit = Dutylimit;
echo_piyo 0:bf96e953cdb8 25 }
echo_piyo 0:bf96e953cdb8 26
echo_piyo 0:bf96e953cdb8 27 void output(float duty) {
echo_piyo 0:bf96e953cdb8 28 if (duty > 0) {
echo_piyo 0:bf96e953cdb8 29 ccw = 0;
echo_piyo 0:bf96e953cdb8 30 cw = 1;
echo_piyo 0:bf96e953cdb8 31 if (duty > limit) {
echo_piyo 0:bf96e953cdb8 32 duty = limit;
echo_piyo 0:bf96e953cdb8 33 }
echo_piyo 0:bf96e953cdb8 34 } else {
echo_piyo 0:bf96e953cdb8 35 cw = 0;
echo_piyo 0:bf96e953cdb8 36 ccw = 1;
echo_piyo 0:bf96e953cdb8 37 if (duty < -limit) {
echo_piyo 0:bf96e953cdb8 38 duty = -limit;
echo_piyo 0:bf96e953cdb8 39 }
echo_piyo 0:bf96e953cdb8 40 }
echo_piyo 0:bf96e953cdb8 41
echo_piyo 0:bf96e953cdb8 42 pwm = fabs(duty);
echo_piyo 0:bf96e953cdb8 43 }
echo_piyo 0:bf96e953cdb8 44
echo_piyo 0:bf96e953cdb8 45 private :
echo_piyo 0:bf96e953cdb8 46 DigitalOut cw;
echo_piyo 0:bf96e953cdb8 47 DigitalOut ccw;
echo_piyo 0:bf96e953cdb8 48 PwmOut pwm;
echo_piyo 0:bf96e953cdb8 49
echo_piyo 0:bf96e953cdb8 50 float limit;
echo_piyo 0:bf96e953cdb8 51 };