ken fuji / T_motor

田中くんのモタドラを制御する石本さんのやつ

T_motor.cpp@8:2759e619969a, 2017-09-27 (annotated)

Committer:
fujikenac
Date:
Wed Sep 27 10:28:52 2017 +0000
Revision:
8:2759e619969a
Parent:
7:a1d54597161d 
fix i2c

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fujikenac 0:e10d08530490 1 #include "mbed.h"
fujikenac 0:e10d08530490 2 #include "T_motor.h"
fujikenac 0:e10d08530490 3
fujikenac 0:e10d08530490 4 void T_motor::setAddr(int addr_)
fujikenac 0:e10d08530490 5 {
fujikenac 0:e10d08530490 6 addr = addr_;
fujikenac 0:e10d08530490 7 }
fujikenac 0:e10d08530490 8
fujikenac 0:e10d08530490 9 void T_motor::init(char addr,int freq = 100000)
fujikenac 0:e10d08530490 10 {
fujikenac 0:e10d08530490 11 setAddr(addr);
fujikenac 8:2759e619969a 12 i2c->frequency(freq);
fujikenac 0:e10d08530490 13 char d = 0;
fujikenac 8:2759e619969a 14 i2c->write((addr+1) << 1,&d,1);
fujikenac 0:e10d08530490 15 wait(0.01);
fujikenac 0:e10d08530490 16 }
fujikenac 0:e10d08530490 17
fujikenac 8:2759e619969a 18 T_motor::T_motor(I2C* i2c_,int addr):i2c(i2c_)
fujikenac 0:e10d08530490 19 {
fujikenac 0:e10d08530490 20 init(addr);
fujikenac 0:e10d08530490 21 }
fujikenac 0:e10d08530490 22
fujikenac 1:5bd161b83ce0 23 T_motor& T_motor::operator=(float fval)// -1 <= fval <= 1
fujikenac 0:e10d08530490 24 {
fujikenac 7:a1d54597161d 25 if(fabs(fval) < 0.005f)free();
fujikenac 0:e10d08530490 26 else {
fujikenac 5:0e69f06b24ff 27 if(fval < 0) run(1,char(-1*fval*255));
fujikenac 5:0e69f06b24ff 28 else if(fval > 0) run(0,char(fval*255));
fujikenac 0:e10d08530490 29 }
fujikenac 0:e10d08530490 30 return *this;
fujikenac 0:e10d08530490 31 }
fujikenac 0:e10d08530490 32
fujikenac 1:5bd161b83ce0 33 void T_motor::control(float fval)//copy from operator
fujikenac 1:5bd161b83ce0 34 {
fujikenac 7:a1d54597161d 35 if(fabs(fval) < 0.005f)free();
fujikenac 1:5bd161b83ce0 36 else {
fujikenac 5:0e69f06b24ff 37 if(fval < 0) run(1,char(-1*fval*255));
fujikenac 5:0e69f06b24ff 38 else if(fval > 0) run(0,char(fval*255));
fujikenac 1:5bd161b83ce0 39 }
fujikenac 1:5bd161b83ce0 40 }
fujikenac 1:5bd161b83ce0 41
fujikenac 0:e10d08530490 42 bool T_motor::run(char mode,char speed)
fujikenac 0:e10d08530490 43 {
fujikenac 0:e10d08530490 44 bool f = 0;
fujikenac 0:e10d08530490 45 char d = speed;
fujikenac 0:e10d08530490 46
fujikenac 8:2759e619969a 47 if(mode == 0 || mode == 1)f = i2c->write((addr+mode) << 1,&d,1);
fujikenac 0:e10d08530490 48 wait(0.01);
fujikenac 0:e10d08530490 49 return f;
fujikenac 0:e10d08530490 50 }
fujikenac 0:e10d08530490 51
fujikenac 0:e10d08530490 52 bool T_motor::stop()
fujikenac 0:e10d08530490 53 {
fujikenac 0:e10d08530490 54 return run(1,0);
fujikenac 0:e10d08530490 55 }
fujikenac 0:e10d08530490 56
fujikenac 0:e10d08530490 57 bool T_motor::free()
fujikenac 0:e10d08530490 58 {
fujikenac 0:e10d08530490 59 return run(0,0);
fujikenac 0:e10d08530490 60 }
fujikenac 0:e10d08530490 61