tarou yamada
YMotorDriverBase.h@1:c8ed08beefb9, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 06:04:34 2015 +0000
- Revision:
- 1:c8ed08beefb9
- Parent:
- 0:a2bbf76ca734
- Child:
- 2:871d1f6d311e
Who changed what in which revision?
| User | Revision | Line number | New 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 | 1:c8ed08beefb9 | 17 | YMotorDriverBase( char address, int id ); |
| inst | 1:c8ed08beefb9 | 18 | YMotorDriverBase( char address, float maxDuty, float minDuty ); |
| inst | 0:a2bbf76ca734 | 19 | ~YMotorDriverBase(); |
| inst | 0:a2bbf76ca734 | 20 | |
| inst | 0:a2bbf76ca734 | 21 | virtual void update(); |
| inst | 0:a2bbf76ca734 | 22 | |
| inst | 0:a2bbf76ca734 | 23 | void setMotorAction( MotorAction action ){ |
| inst | 0:a2bbf76ca734 | 24 | mAction = action; |
| inst | 0:a2bbf76ca734 | 25 | } |
| inst | 0:a2bbf76ca734 | 26 | void setDuty( float d ){ |
| inst | 0:a2bbf76ca734 | 27 | mDuty = middle( mMinDuty, d, mMaxDuty ); |
| inst | 0:a2bbf76ca734 | 28 | } |
| inst | 0:a2bbf76ca734 | 29 | void setPercent( float p ); |
| inst | 0:a2bbf76ca734 | 30 | |
| inst | 0:a2bbf76ca734 | 31 | float getMinDuty(){ |
| inst | 0:a2bbf76ca734 | 32 | return mMinDuty; |
| inst | 0:a2bbf76ca734 | 33 | } |
| inst | 0:a2bbf76ca734 | 34 | float getMaxDuty(){ |
| inst | 0:a2bbf76ca734 | 35 | return mMaxDuty; |
| inst | 0:a2bbf76ca734 | 36 | } |
| inst | 0:a2bbf76ca734 | 37 | |
| inst | 0:a2bbf76ca734 | 38 | protected: |
| inst | 1:c8ed08beefb9 | 39 | virtual void write(); |
| inst | 1:c8ed08beefb9 | 40 | void updatePwmDuty(); |
| inst | 0:a2bbf76ca734 | 41 | |
| inst | 0:a2bbf76ca734 | 42 | I2CSlave* mI2C; |
| inst | 0:a2bbf76ca734 | 43 | DigitalOut* mLED; |
| inst | 0:a2bbf76ca734 | 44 | |
| inst | 0:a2bbf76ca734 | 45 | private: |
| inst | 1:c8ed08beefb9 | 46 | virtual void updateI2CSlave(); |
| inst | 1:c8ed08beefb9 | 47 | virtual void updateSpecial(){} |
| inst | 0:a2bbf76ca734 | 48 | |
| inst | 0:a2bbf76ca734 | 49 | static float middle( float min, float d, float max ){ |
| inst | 0:a2bbf76ca734 | 50 | if ( min > max ){ |
| inst | 0:a2bbf76ca734 | 51 | float tmp = min; |
| inst | 0:a2bbf76ca734 | 52 | min = max; |
| inst | 0:a2bbf76ca734 | 53 | max = tmp; |
| inst | 0:a2bbf76ca734 | 54 | } |
| inst | 0:a2bbf76ca734 | 55 | |
| inst | 0:a2bbf76ca734 | 56 | if ( d < min ){ |
| inst | 0:a2bbf76ca734 | 57 | return min; |
| inst | 0:a2bbf76ca734 | 58 | } else if ( d > max ){ |
| inst | 0:a2bbf76ca734 | 59 | return max; |
| inst | 0:a2bbf76ca734 | 60 | } |
| inst | 0:a2bbf76ca734 | 61 | |
| inst | 0:a2bbf76ca734 | 62 | return d; |
| inst | 0:a2bbf76ca734 | 63 | } |
| inst | 1:c8ed08beefb9 | 64 | |
| inst | 1:c8ed08beefb9 | 65 | void init(); |
| inst | 1:c8ed08beefb9 | 66 | |
| inst | 1:c8ed08beefb9 | 67 | PWMOut* mMotorDrivePwm; |
| inst | 1:c8ed08beefb9 | 68 | DigitalOut* mMotorDriveDout[ 4 ]; |
| inst | 1:c8ed08beefb9 | 69 | |
| inst | 1:c8ed08beefb9 | 70 | MotorAction mAction; |
| inst | 1:c8ed08beefb9 | 71 | float mDuty; |
| inst | 1:c8ed08beefb9 | 72 | |
| inst | 1:c8ed08beefb9 | 73 | const char mAddress; |
| inst | 1:c8ed08beefb9 | 74 | int mID; |
| inst | 1:c8ed08beefb9 | 75 | |
| inst | 1:c8ed08beefb9 | 76 | static const PinName mMotorDriveDoutPinName[ 4 ]; |
| inst | 1:c8ed08beefb9 | 77 | static const PinName mMotorDrivePwmPinName; |
| inst | 1:c8ed08beefb9 | 78 | static const PinName mLEDPinName; |
| inst | 1:c8ed08beefb9 | 79 | static const PinName mSerialPinName[ 2 ]; |
| inst | 1:c8ed08beefb9 | 80 | static const PinName mI2CPinName[ 2 ]; |
| inst | 1:c8ed08beefb9 | 81 | static const int mPwmCycle_us; |
| inst | 1:c8ed08beefb9 | 82 | static const float mMaxDutyList[]; |
| inst | 1:c8ed08beefb9 | 83 | static const float mMinDutyList[]; |
| inst | 1:c8ed08beefb9 | 84 | float mMaxDuty; |
| inst | 1:c8ed08beefb9 | 85 | float mMinDuty; |
| inst | 0:a2bbf76ca734 | 86 | }; |
| inst | 0:a2bbf76ca734 | 87 | |
| inst | 0:a2bbf76ca734 | 88 | #endif |