ken fuji / P_motor2

変な加速

Dependencies:   T_motor

P_motor.h@1:d0b60b54e3bd, 2017-10-25 (annotated)

Committer:
fujikenac
Date:
Wed Oct 25 09:29:53 2017 +0000
Revision:
1:d0b60b54e3bd
Parent:
0:29872002539b 
add direct_control function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:29872002539b 1 #ifndef P_motor_h_
fujikenac 0:29872002539b 2 #define P_motor_h_
fujikenac 0:29872002539b 3
fujikenac 0:29872002539b 4 #include "mbed.h"
fujikenac 0:29872002539b 5 #include "T_motor.h"
fujikenac 0:29872002539b 6
fujikenac 0:29872002539b 7 class P_motor
fujikenac 0:29872002539b 8 {
fujikenac 0:29872002539b 9 private:
fujikenac 0:29872002539b 10 T_motor motor;
fujikenac 0:29872002539b 11 Timer timer;
fujikenac 0:29872002539b 12 Serial pc;
fujikenac 0:29872002539b 13 double output[3];
fujikenac 0:29872002539b 14 double target, output_m;
fujikenac 0:29872002539b 15 double time_old;
fujikenac 0:29872002539b 16 double RC, LC;
fujikenac 0:29872002539b 17 void compute();
fujikenac 0:29872002539b 18 void timer_reset();
fujikenac 0:29872002539b 19 void output_reset(double value = 0);
fujikenac 0:29872002539b 20 enum status
fujikenac 0:29872002539b 21 {
fujikenac 0:29872002539b 22 NONE,
fujikenac 0:29872002539b 23 FORWARD,
fujikenac 0:29872002539b 24 BACKWARD = -1
fujikenac 0:29872002539b 25 }stat, stat_old;
fujikenac 0:29872002539b 26
fujikenac 0:29872002539b 27 public:
fujikenac 0:29872002539b 28 P_motor(I2C *i2c_, char addr_);
fujikenac 0:29872002539b 29 P_motor& operator=(double target_);
fujikenac 1:d0b60b54e3bd 30 void direct_controll(double target_);
fujikenac 0:29872002539b 31 void run();
fujikenac 0:29872002539b 32 void free();
fujikenac 0:29872002539b 33 void stop();
fujikenac 0:29872002539b 34 };
fujikenac 0:29872002539b 35
fujikenac 0:29872002539b 36 #endif