tarou yamada / YMotorDriverBase

Dependents:   YMotor

YMotorDriverBase.h@0:a2bbf76ca734, 2015-08-23 (annotated)

Committer:
inst
Date:
Sun Aug 23 15:18:04 2015 +0000
Revision:
0:a2bbf76ca734
Child:
1:c8ed08beefb9
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:a2bbf76ca734 1 #ifndef INCLUDED_YMOTOR_DRIVER_BASE_H
inst 0:a2bbf76ca734 2 #define INCLUDED_YMOTOR_DRIVER_BASE_H
inst 0:a2bbf76ca734 3
inst 0:a2bbf76ca734 4 #include "mbed.h"
inst 0:a2bbf76ca734 5 #include "PWMOut.h"
inst 0:a2bbf76ca734 6
inst 0:a2bbf76ca734 7 class YMotorDriverBase{
inst 0:a2bbf76ca734 8 public:
inst 0:a2bbf76ca734 9 enum MotorAction{
inst 0:a2bbf76ca734 10 FORWARD,
inst 0:a2bbf76ca734 11 REVERSE,
inst 0:a2bbf76ca734 12 BRAKE,
inst 0:a2bbf76ca734 13 RELEASE
inst 0:a2bbf76ca734 14 };
inst 0:a2bbf76ca734 15
inst 0:a2bbf76ca734 16 YMotorDriverBase( char address );
inst 0:a2bbf76ca734 17 ~YMotorDriverBase();
inst 0:a2bbf76ca734 18
inst 0:a2bbf76ca734 19 virtual void update();
inst 0:a2bbf76ca734 20
inst 0:a2bbf76ca734 21 void setMotorAction( MotorAction action ){
inst 0:a2bbf76ca734 22 mAction = action;
inst 0:a2bbf76ca734 23 }
inst 0:a2bbf76ca734 24 void setDuty( float d ){
inst 0:a2bbf76ca734 25 mDuty = middle( mMinDuty, d, mMaxDuty );
inst 0:a2bbf76ca734 26 }
inst 0:a2bbf76ca734 27 void setPercent( float p );
inst 0:a2bbf76ca734 28
inst 0:a2bbf76ca734 29 float getMinDuty(){
inst 0:a2bbf76ca734 30 return mMinDuty;
inst 0:a2bbf76ca734 31 }
inst 0:a2bbf76ca734 32 float getMaxDuty(){
inst 0:a2bbf76ca734 33 return mMaxDuty;
inst 0:a2bbf76ca734 34 }
inst 0:a2bbf76ca734 35
inst 0:a2bbf76ca734 36 protected:
inst 0:a2bbf76ca734 37 void write();
inst 0:a2bbf76ca734 38
inst 0:a2bbf76ca734 39 I2CSlave* mI2C;
inst 0:a2bbf76ca734 40 DigitalOut* mLED;
inst 0:a2bbf76ca734 41
inst 0:a2bbf76ca734 42 private:
inst 0:a2bbf76ca734 43 PWMOut* mMotorDrivePwm;
inst 0:a2bbf76ca734 44 DigitalOut* mMotorDriveDout[ 4 ];
inst 0:a2bbf76ca734 45
inst 0:a2bbf76ca734 46 MotorAction mAction;
inst 0:a2bbf76ca734 47 float mDuty;
inst 0:a2bbf76ca734 48
inst 0:a2bbf76ca734 49 const char mAddress;
inst 0:a2bbf76ca734 50
inst 0:a2bbf76ca734 51 static const PinName mMotorDriveDoutPinName[ 4 ];
inst 0:a2bbf76ca734 52 static const PinName mMotorDrivePwmPinName;
inst 0:a2bbf76ca734 53 static const PinName mLEDPinName;
inst 0:a2bbf76ca734 54 static const PinName mSerialPinName[ 2 ];
inst 0:a2bbf76ca734 55 static const PinName mI2CPinName[ 2 ];
inst 0:a2bbf76ca734 56 static const int mPwmCycle_us;
inst 0:a2bbf76ca734 57 static const float mMaxDuty;
inst 0:a2bbf76ca734 58 static const float mMinDuty;
inst 0:a2bbf76ca734 59
inst 0:a2bbf76ca734 60 void updatePwmDuty();
inst 0:a2bbf76ca734 61
inst 0:a2bbf76ca734 62 static float middle( float min, float d, float max ){
inst 0:a2bbf76ca734 63 if ( min > max ){
inst 0:a2bbf76ca734 64 float tmp = min;
inst 0:a2bbf76ca734 65 min = max;
inst 0:a2bbf76ca734 66 max = tmp;
inst 0:a2bbf76ca734 67 }
inst 0:a2bbf76ca734 68
inst 0:a2bbf76ca734 69 if ( d < min ){
inst 0:a2bbf76ca734 70 return min;
inst 0:a2bbf76ca734 71 } else if ( d > max ){
inst 0:a2bbf76ca734 72 return max;
inst 0:a2bbf76ca734 73 }
inst 0:a2bbf76ca734 74
inst 0:a2bbf76ca734 75 return d;
inst 0:a2bbf76ca734 76 }
inst 0:a2bbf76ca734 77 };
inst 0:a2bbf76ca734 78
inst 0:a2bbf76ca734 79 #endif