first
Dependents: 17robo_fuzi 17robo_tokyo_kaede
Diff: motor_drive.h
- Revision:
- 0:aefa71eaf32a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motor_drive.h Sun Sep 24 05:24:19 2017 +0000 @@ -0,0 +1,37 @@ +/* +MotorDrive Name(cw_ccw, pwm); + +setup(float frequency, float acceleration, float timerCycle); +MotorDrive関数のセットアップ +frequency : pwmの周波数[Hz] +acceleration : 加速度[m/s^2] +timerCycle : outputを呼び出す周期[s] + +output(duty) +dutyになるように出力する +*/ + +#ifndef MBED_MOTOR_DRIVE_H +#define MBED_MOTOR_DRIVE_H + +#include "mbed.h" + +#define DUTY_LIMIT 0.95 + +class MotorDrive +{ +public : + MotorDrive (PinName Direction,PinName Pwm); + + void setup(float frequency, float acceleration, float timerCycle); + + void output(float targetDuty); + +private : + DigitalOut direction; + PwmOut pwm; + float a; + float duty; +}; + +#endif \ No newline at end of file