tarou yamada
Motor.h@1:5a14412eb231, 2015-11-29 (annotated)
- Committer:
- inst
- Date:
- Sun Nov 29 11:39:13 2015 +0000
- Revision:
- 1:5a14412eb231
- Parent:
- 0:479438556d43
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| inst | 0:479438556d43 | 1 | #ifndef INCLUDED_MOTOR_H |
| inst | 0:479438556d43 | 2 | #define INCLUDED_MOTOR_H |
| inst | 0:479438556d43 | 3 | |
| inst | 0:479438556d43 | 4 | #include "mbed.h" |
| inst | 0:479438556d43 | 5 | |
| inst | 0:479438556d43 | 6 | // p0 p3 |
| inst | 0:479438556d43 | 7 | // | | |
| inst | 0:479438556d43 | 8 | // |--M--| |
| inst | 0:479438556d43 | 9 | // | | |
| inst | 0:479438556d43 | 10 | // p1 p2 |
| inst | 0:479438556d43 | 11 | class Motor{ |
| inst | 0:479438556d43 | 12 | public: |
| inst | 0:479438556d43 | 13 | enum ActionType{ |
| inst | 0:479438556d43 | 14 | FORWARD, |
| inst | 0:479438556d43 | 15 | BACKWARD, |
| inst | 0:479438556d43 | 16 | BRAKE, |
| inst | 0:479438556d43 | 17 | RELEASE |
| inst | 0:479438556d43 | 18 | }; |
| inst | 0:479438556d43 | 19 | |
| inst | 0:479438556d43 | 20 | Motor( PinName p0, PinName p1, PinName p2, PinName p3 ); |
| inst | 0:479438556d43 | 21 | ~Motor(); |
| inst | 0:479438556d43 | 22 | |
| inst | 0:479438556d43 | 23 | void setPercent( float p ){ |
| inst | 0:479438556d43 | 24 | setDuty( mMinDuty + ( mMaxDuty - mMinDuty ) * p ); |
| inst | 0:479438556d43 | 25 | } |
| inst | 0:479438556d43 | 26 | void setDuty( float d ){ |
| inst | 0:479438556d43 | 27 | if ( d > mMaxDuty ){ |
| inst | 0:479438556d43 | 28 | d = mMaxDuty; |
| inst | 0:479438556d43 | 29 | } else if ( d < mMinDuty ){ |
| inst | 0:479438556d43 | 30 | d = mMinDuty; |
| inst | 0:479438556d43 | 31 | } |
| inst | 0:479438556d43 | 32 | mDuty = d; |
| inst | 0:479438556d43 | 33 | |
| inst | 0:479438556d43 | 34 | update(); |
| inst | 0:479438556d43 | 35 | } |
| inst | 0:479438556d43 | 36 | void setActionType( ActionType a ){ |
| inst | 0:479438556d43 | 37 | mActionType = a; |
| inst | 0:479438556d43 | 38 | update(); |
| inst | 0:479438556d43 | 39 | } |
| inst | 0:479438556d43 | 40 | |
| inst | 0:479438556d43 | 41 | private: |
| inst | 0:479438556d43 | 42 | void update(); |
| inst | 0:479438556d43 | 43 | |
| inst | 0:479438556d43 | 44 | static const float mMinDuty; |
| inst | 0:479438556d43 | 45 | static const float mMaxDuty; |
| inst | 0:479438556d43 | 46 | |
| inst | 0:479438556d43 | 47 | float mDuty; |
| inst | 0:479438556d43 | 48 | ActionType mActionType; |
| inst | 0:479438556d43 | 49 | |
| inst | 0:479438556d43 | 50 | PwmOut* mPin0_PWM; |
| inst | 0:479438556d43 | 51 | DigitalOut* mPin1_D; |
| inst | 0:479438556d43 | 52 | DigitalOut* mPin2_D; |
| inst | 0:479438556d43 | 53 | PwmOut* mPin3_PWM; |
| inst | 0:479438556d43 | 54 | }; |
| inst | 0:479438556d43 | 55 | |
| inst | 0:479438556d43 | 56 | #endif |