tarou yamada
Motor.cpp@0:479438556d43, 2015-04-15 (annotated)
- Committer:
- inst
- Date:
- Wed Apr 15 09:28:51 2015 +0000
- Revision:
- 0:479438556d43
- Child:
- 1:5a14412eb231
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:479438556d43 | 1 | #include "Motor.h" |
| inst | 0:479438556d43 | 2 | |
| inst | 0:479438556d43 | 3 | const float Motor::mMinDuty = 0.3f; |
| inst | 0:479438556d43 | 4 | const float Motor::mMaxDuty = 0.7f; |
| inst | 0:479438556d43 | 5 | |
| inst | 0:479438556d43 | 6 | Motor::Motor( PinName p0, PinName p1, PinName p2, PinName p3 ){ |
| inst | 0:479438556d43 | 7 | mActionType = RELEASE; |
| inst | 0:479438556d43 | 8 | mDuty = mMinDuty; |
| inst | 0:479438556d43 | 9 | |
| inst | 0:479438556d43 | 10 | mPin0_PWM = new PwmOut( p |
| inst | 0:479438556d43 | 11 | 0 ); |
| inst | 0:479438556d43 | 12 | mPin1_D = new DigitalOut( p1 ); |
| inst | 0:479438556d43 | 13 | mPin2_D = new DigitalOut( p2 ); |
| inst | 0:479438556d43 | 14 | mPin3_PWM = new PwmOut( p3 ); |
| inst | 0:479438556d43 | 15 | |
| inst | 0:479438556d43 | 16 | update(); |
| inst | 0:479438556d43 | 17 | } |
| inst | 0:479438556d43 | 18 | |
| inst | 0:479438556d43 | 19 | void Motor::update(){ |
| inst | 0:479438556d43 | 20 | switch ( mActionType ){ |
| inst | 0:479438556d43 | 21 | case FORWARD: |
| inst | 0:479438556d43 | 22 | mPin0_PWM->write( 1.0f - mDuty ); |
| inst | 0:479438556d43 | 23 | mPin1_D->write( 0 ); |
| inst | 0:479438556d43 | 24 | mPin2_D->write( 1 ); |
| inst | 0:479438556d43 | 25 | mPin3_PWM->write( 1.0f ); |
| inst | 0:479438556d43 | 26 | break; |
| inst | 0:479438556d43 | 27 | |
| inst | 0:479438556d43 | 28 | case BACKWARD: |
| inst | 0:479438556d43 | 29 | mPin0_PWM->write( 1.0f ); |
| inst | 0:479438556d43 | 30 | mPin1_D->write( 1 ); |
| inst | 0:479438556d43 | 31 | mPin2_D->write( 0 ); |
| inst | 0:479438556d43 | 32 | mPin3_PWM->write( 1.0f - mDuty ); |
| inst | 0:479438556d43 | 33 | break; |
| inst | 0:479438556d43 | 34 | |
| inst | 0:479438556d43 | 35 | case BRAKE: |
| inst | 0:479438556d43 | 36 | mPin0_PWM->write( 0.0f); |
| inst | 0:479438556d43 | 37 | mPin1_D->write( 1 ); |
| inst | 0:479438556d43 | 38 | mPin2_D->write( 1 ); |
| inst | 0:479438556d43 | 39 | mPin3_PWM->write( 0.0f ); |
| inst | 0:479438556d43 | 40 | break; |
| inst | 0:479438556d43 | 41 | |
| inst | 0:479438556d43 | 42 | case RELEASE: |
| inst | 0:479438556d43 | 43 | mPin0_PWM->write( 1.0f ); |
| inst | 0:479438556d43 | 44 | mPin3_PWM->write( 1.0f ); |
| inst | 0:479438556d43 | 45 | break; |
| inst | 0:479438556d43 | 46 | } |
| inst | 0:479438556d43 | 47 | } |