Motor
Dependents: Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more
Motor.h@0:1252cd3b995f, 2015-06-19 (annotated)
- Committer:
- kikoaac
- Date:
- Fri Jun 19 06:35:46 2015 +0000
- Revision:
- 0:1252cd3b995f
- Child:
- 1:4ab6e9768847
Motor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kikoaac | 0:1252cd3b995f | 1 | |
kikoaac | 0:1252cd3b995f | 2 | #ifndef PID_H |
kikoaac | 0:1252cd3b995f | 3 | #define PID_H |
kikoaac | 0:1252cd3b995f | 4 | |
kikoaac | 0:1252cd3b995f | 5 | #include "mbed.h" |
kikoaac | 0:1252cd3b995f | 6 | #define Front 1 |
kikoaac | 0:1252cd3b995f | 7 | #define Back 2 |
kikoaac | 0:1252cd3b995f | 8 | #define Stop 3 |
kikoaac | 0:1252cd3b995f | 9 | #define Free 4 |
kikoaac | 0:1252cd3b995f | 10 | class Motor { |
kikoaac | 0:1252cd3b995f | 11 | |
kikoaac | 0:1252cd3b995f | 12 | public: |
kikoaac | 0:1252cd3b995f | 13 | |
kikoaac | 0:1252cd3b995f | 14 | Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max); |
kikoaac | 0:1252cd3b995f | 15 | Motor& operator= (float duty) |
kikoaac | 0:1252cd3b995f | 16 | { |
kikoaac | 0:1252cd3b995f | 17 | if(duty<0) |
kikoaac | 0:1252cd3b995f | 18 | { |
kikoaac | 0:1252cd3b995f | 19 | duty*=-1; |
kikoaac | 0:1252cd3b995f | 20 | run(Front,duty); |
kikoaac | 0:1252cd3b995f | 21 | } |
kikoaac | 0:1252cd3b995f | 22 | else if(duty>0) |
kikoaac | 0:1252cd3b995f | 23 | { |
kikoaac | 0:1252cd3b995f | 24 | run(Back,duty); |
kikoaac | 0:1252cd3b995f | 25 | } |
kikoaac | 0:1252cd3b995f | 26 | else run(Free,duty); |
kikoaac | 0:1252cd3b995f | 27 | return *this; |
kikoaac | 0:1252cd3b995f | 28 | } |
kikoaac | 0:1252cd3b995f | 29 | void run(int i,float duty); |
kikoaac | 0:1252cd3b995f | 30 | float min,max; |
kikoaac | 0:1252cd3b995f | 31 | private: |
kikoaac | 0:1252cd3b995f | 32 | |
kikoaac | 0:1252cd3b995f | 33 | float Duty; |
kikoaac | 0:1252cd3b995f | 34 | BusOut motor; |
kikoaac | 0:1252cd3b995f | 35 | PwmOut PwmPin; |
kikoaac | 0:1252cd3b995f | 36 | }; |
kikoaac | 0:1252cd3b995f | 37 | |
kikoaac | 0:1252cd3b995f | 38 | #endif /* PID_H */ |