Motor.cpp

00001 #include "Motor.h"
00002 
00003 Motor::Motor(PinName pwm, float _period/*, float* linCoef, float lowerSat, float upperSat*/) : PwmOut(pwm)
00004 {    
00005     //period(_period);
00006     period_us(_period);
00007     
00008     currentPower = 0;
00009     
00010     //setPower(currentPower);
00011     
00012     //this->linCoef = linCoef;
00013     
00014     //this->lowerSat = lowerSat;
00015     //this->upperSat = upperSat;
00016 }
00017 
00018 /*Motor::Motor(PinName pwm, float periodms) : PwmOut(pwm)
00019 {
00020     //Motor(pwm, (periodms*1000), new float[1], 0, 100);
00021     period_ms(periodms);
00022     
00023     //currentPower = 0;
00024     
00025     //this->linCoef = new float[1];
00026     
00027     //this->lowerSat = 0;
00028     //this->upperSat = 100;
00029 }*/
00030 
00031 void Motor::setPower(float power)
00032 {
00033     power = clampFloat(power, 0.0, 100.0);
00034     
00035     //pulsewidth(PWM_MIN + (power / 100.0) * PWM_DT);
00036     write( (100-(PWM_MIN + power))/100);
00037     currentPower = power;
00038 }
00039 
00040 void Motor::setPowerLin(float power)
00041 {
00042     setPower(power);
00043     /*
00044     float pwm = 0;
00045     
00046     power = clampFloat(power, 0.0, 100.0);
00047     
00048     for (int i = 0; i < 5; i++)
00049     {
00050         pwm += linCoef[4-i] * pow(power/100.0, i);
00051     }
00052     
00053     setPower(lowerSat + pwm*(upperSat - lowerSat));
00054     */
00055 }
00056 void Motor::arm(int pwm_ms)
00057 {
00058     pulsewidth_ms(pwm_ms);
00059     //write( (power)/100 );
00060 }
00061 void Motor::accumulatePower(float accPower)
00062 {
00063     setPower(currentPower + accPower);
00064 }
00065 
00066 float Motor::getPower()
00067 {
00068     return currentPower;
00069 }