ken fuji / P_motor

using T_motor

Dependents:   omuni_a omuni

P_motor.h@2:483f189d3508, 2017-10-23 (annotated)

Committer:
fujikenac
Date:
Mon Oct 23 13:28:50 2017 +0000
Revision:
2:483f189d3508
Parent:
1:9d893f55d17f 
fix roll

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:2431c324e36d 1 #ifndef P_motor_h_
fujikenac 0:2431c324e36d 2 #define P_motor_h_
fujikenac 0:2431c324e36d 3
fujikenac 0:2431c324e36d 4 #include "mbed.h"
fujikenac 0:2431c324e36d 5 #include "T_motor.h"
fujikenac 0:2431c324e36d 6
fujikenac 0:2431c324e36d 7 class P_motor
fujikenac 0:2431c324e36d 8 {
fujikenac 0:2431c324e36d 9 private:
fujikenac 0:2431c324e36d 10 T_motor motor;
fujikenac 1:9d893f55d17f 11 Timer timer;
fujikenac 0:2431c324e36d 12 Serial pc;
fujikenac 1:9d893f55d17f 13 double output[3];
fujikenac 1:9d893f55d17f 14 double target, output_m;
fujikenac 1:9d893f55d17f 15 double time_old;
fujikenac 1:9d893f55d17f 16 double RC, LC;
fujikenac 1:9d893f55d17f 17 void compute();
fujikenac 1:9d893f55d17f 18 void timer_reset();
fujikenac 1:9d893f55d17f 19 void output_reset(double value = 0);
fujikenac 1:9d893f55d17f 20 enum status
fujikenac 1:9d893f55d17f 21 {
fujikenac 1:9d893f55d17f 22 NONE,
fujikenac 0:2431c324e36d 23 FORWARD,
fujikenac 1:9d893f55d17f 24 BACKWARD = -1
fujikenac 1:9d893f55d17f 25 }stat, stat_old;
fujikenac 0:2431c324e36d 26
fujikenac 0:2431c324e36d 27 public:
fujikenac 1:9d893f55d17f 28 P_motor(I2C *i2c_, char addr_);
fujikenac 0:2431c324e36d 29 P_motor& operator=(double target_);
fujikenac 2:483f189d3508 30 void direct_controll(double target_);
fujikenac 0:2431c324e36d 31 void run();
fujikenac 0:2431c324e36d 32 void free();
fujikenac 0:2431c324e36d 33 void stop();
fujikenac 0:2431c324e36d 34 };
fujikenac 0:2431c324e36d 35
fujikenac 0:2431c324e36d 36 #endif