ken fuji
変な加速
Diff: P_motor.h
- Revision:
- 0:29872002539b
- Child:
- 1:d0b60b54e3bd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/P_motor.h Fri Oct 20 09:56:12 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef P_motor_h_
+#define P_motor_h_
+
+#include "mbed.h"
+#include "T_motor.h"
+
+class P_motor
+{
+ private:
+ T_motor motor;
+ Timer timer;
+ Serial pc;
+ double output[3];
+ double target, output_m;
+ double time_old;
+ double RC, LC;
+ void compute();
+ void calc();
+ void timer_reset();
+ void output_reset(double value = 0);
+ enum status
+ {
+ NONE,
+ FORWARD,
+ BACKWARD = -1
+ }stat, stat_old;
+
+ public:
+ P_motor(I2C *i2c_, char addr_);
+ P_motor& operator=(double target_);
+ void run();
+ void free();
+ void stop();
+};
+
+#endif
\ No newline at end of file