Kiko Ishimoto / Motor

Ｍｏｔｏｒ

Dependents:   Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more

Motor.cpp@1:4ab6e9768847, 2015-07-21 (annotated)

Committer:
kikoaac
Date:
Tue Jul 21 08:11:59 2015 +0000
Revision:
1:4ab6e9768847
Parent:
0:1252cd3b995f
Child:
2:ef4a9c047681
Motor

;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikoaac 0:1252cd3b995f 1 /**
kikoaac 0:1252cd3b995f 2 * Includes
kikoaac 0:1252cd3b995f 3 */
kikoaac 0:1252cd3b995f 4 #include "Motor.h"
kikoaac 0:1252cd3b995f 5
kikoaac 0:1252cd3b995f 6 Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max) :
kikoaac 0:1252cd3b995f 7 motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
kikoaac 0:1252cd3b995f 8 {
kikoaac 0:1252cd3b995f 9 max=Max;
kikoaac 1:4ab6e9768847 10 PwmPin.period_ms(1);
kikoaac 0:1252cd3b995f 11 run(Stop,1);
kikoaac 0:1252cd3b995f 12 }
kikoaac 1:4ab6e9768847 13 void Motor::setup(int _state)
kikoaac 1:4ab6e9768847 14 {
kikoaac 1:4ab6e9768847 15
kikoaac 1:4ab6e9768847 16 }
kikoaac 0:1252cd3b995f 17 void Motor::run(int i,float duty)
kikoaac 0:1252cd3b995f 18 {
kikoaac 0:1252cd3b995f 19 static int state;
kikoaac 1:4ab6e9768847 20 Duty = (float)duty;
kikoaac 1:4ab6e9768847 21 //printf("Duty %f \n",(float)duty);
kikoaac 0:1252cd3b995f 22 //if(state==i)return;
kikoaac 0:1252cd3b995f 23 PwmPin = Duty;
kikoaac 0:1252cd3b995f 24 if(state==i)return;
kikoaac 0:1252cd3b995f 25 Timer t;
kikoaac 0:1252cd3b995f 26 motor=0;
kikoaac 0:1252cd3b995f 27 //wait_us(20);
kikoaac 1:4ab6e9768847 28 /*t.start();
kikoaac 0:1252cd3b995f 29 t.reset();
kikoaac 1:4ab6e9768847 30 while(t.read_us()>=20);*/
kikoaac 1:4ab6e9768847 31 wait_us(20);
kikoaac 0:1252cd3b995f 32 if(i==Front) motor=0x01|0x04;
kikoaac 0:1252cd3b995f 33 else if(i==Back) motor=0x02|0x08;
kikoaac 0:1252cd3b995f 34 else if(i==Stop) motor=0x01|0x08;
kikoaac 0:1252cd3b995f 35 else if(i==Free) motor=0x00|0x00;
kikoaac 0:1252cd3b995f 36 else motor=0;
kikoaac 0:1252cd3b995f 37 state=i;
kikoaac 0:1252cd3b995f 38 }
kikoaac 0:1252cd3b995f 39
kikoaac 1:4ab6e9768847 40
kikoaac 1:4ab6e9768847 41