Dependents: nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
moter.cpp@2:7c276b322cab, 2018-03-22 (annotated)
- Committer:
- kenken0721
- Date:
- Thu Mar 22 06:15:47 2018 +0000
- Revision:
- 2:7c276b322cab
- Parent:
- 1:c39c41e7caa7
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kenken0721 | 0:43e23ac22a60 | 1 | #include "mbed.h" |
kenken0721 | 0:43e23ac22a60 | 2 | #include "moter.h" |
kenken0721 | 0:43e23ac22a60 | 3 | |
kenken0721 | 1:c39c41e7caa7 | 4 | void Straight(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){ |
kenken0721 | 0:43e23ac22a60 | 5 | m_pins[0] = RPower; |
kenken0721 | 0:43e23ac22a60 | 6 | m_pins[1] = RPower; |
kenken0721 | 0:43e23ac22a60 | 7 | m_pins[2] = LPower; |
kenken0721 | 0:43e23ac22a60 | 8 | m_pins[3] = LPower; |
kenken0721 | 1:c39c41e7caa7 | 9 | for(int i=0;i<4;i++){ |
kenken0721 | 2:7c276b322cab | 10 | d_pins1[i] = 1.0; |
kenken0721 | 2:7c276b322cab | 11 | d_pins2[i] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 12 | } |
kenken0721 | 0:43e23ac22a60 | 13 | } |
kenken0721 | 0:43e23ac22a60 | 14 | |
kenken0721 | 2:7c276b322cab | 15 | void Back(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){ |
kenken0721 | 0:43e23ac22a60 | 16 | m_pins[0] = LPower; |
kenken0721 | 0:43e23ac22a60 | 17 | m_pins[1] = LPower; |
kenken0721 | 0:43e23ac22a60 | 18 | m_pins[2] = RPower; |
kenken0721 | 0:43e23ac22a60 | 19 | m_pins[3] = RPower; |
kenken0721 | 1:c39c41e7caa7 | 20 | for(int i=0;i<4;i++){ |
kenken0721 | 1:c39c41e7caa7 | 21 | d_pins1[i] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 22 | d_pins2[i] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 23 | } |
kenken0721 | 0:43e23ac22a60 | 24 | } |
kenken0721 | 0:43e23ac22a60 | 25 | |
kenken0721 | 2:7c276b322cab | 26 | void Right(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){ |
kenken0721 | 0:43e23ac22a60 | 27 | m_pins[0] = LPower; |
kenken0721 | 0:43e23ac22a60 | 28 | m_pins[1] = RPower; |
kenken0721 | 0:43e23ac22a60 | 29 | m_pins[2] = LPower; |
kenken0721 | 0:43e23ac22a60 | 30 | m_pins[3] = RPower; |
kenken0721 | 1:c39c41e7caa7 | 31 | d_pins1[0] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 32 | d_pins1[1] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 33 | d_pins1[2] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 34 | d_pins1[3] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 35 | d_pins2[0] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 36 | d_pins2[1] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 37 | d_pins2[2] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 38 | d_pins2[3] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 39 | |
kenken0721 | 0:43e23ac22a60 | 40 | } |
kenken0721 | 0:43e23ac22a60 | 41 | |
kenken0721 | 2:7c276b322cab | 42 | void Left(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){ |
kenken0721 | 0:43e23ac22a60 | 43 | m_pins[0] = RPower; |
kenken0721 | 0:43e23ac22a60 | 44 | m_pins[1] = LPower; |
kenken0721 | 0:43e23ac22a60 | 45 | m_pins[2] = RPower; |
kenken0721 | 0:43e23ac22a60 | 46 | m_pins[3] = LPower; |
kenken0721 | 1:c39c41e7caa7 | 47 | d_pins1[0] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 48 | d_pins1[1] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 49 | d_pins1[2] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 50 | d_pins1[3] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 51 | d_pins2[0] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 52 | d_pins2[1] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 53 | d_pins2[2] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 54 | d_pins2[3] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 55 | |
kenken0721 | 0:43e23ac22a60 | 56 | } |
kenken0721 | 0:43e23ac22a60 | 57 | |
kenken0721 | 2:7c276b322cab | 58 | void Stop(PwmOut *m_pins, DigitalOut *d_pins1, DigitalOut *d_pins2){ |
kenken0721 | 1:c39c41e7caa7 | 59 | for(int i=0;i<4;i++){ |
kenken0721 | 1:c39c41e7caa7 | 60 | m_pins[i] = 0.0; |
kenken0721 | 1:c39c41e7caa7 | 61 | d_pins1[i] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 62 | d_pins2[i] = 1.0; |
kenken0721 | 1:c39c41e7caa7 | 63 | } |
kenken0721 | 0:43e23ac22a60 | 64 | } |