Kiko Ishimoto / Motor

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Dependents:   Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more

Motor.cpp@3:dea2df71cb97, 2015-09-23 (annotated)

Committer:
kikoaac
Date:
Wed Sep 23 06:01:10 2015 +0000
Revision:
3:dea2df71cb97
Parent:
2:ef4a9c047681
Child:
4:56a1159c881c
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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 3:dea2df71cb97 5 Motor::Motor(const Motor& m):
kikoaac 3:dea2df71cb97 6 motor(m.Pin[0],m.Pin[1],m.Pin[2],m.Pin[3]),PwmPin(m.Pin[4])
kikoaac 3:dea2df71cb97 7 {
kikoaac 3:dea2df71cb97 8 max=m.max;
kikoaac 3:dea2df71cb97 9 //this
kikoaac 3:dea2df71cb97 10 PwmPin.period_ms(20);
kikoaac 3:dea2df71cb97 11 run(Stop,1);
kikoaac 3:dea2df71cb97 12 }
kikoaac 0:1252cd3b995f 13
kikoaac 3:dea2df71cb97 14 Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm) :
kikoaac 3:dea2df71cb97 15 motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
kikoaac 0:1252cd3b995f 16 {
kikoaac 3:dea2df71cb97 17 Pin[0] = _pin_h1;
kikoaac 3:dea2df71cb97 18 Pin[1] = _pin_g2;
kikoaac 3:dea2df71cb97 19 Pin[2] = _pin_g1;
kikoaac 3:dea2df71cb97 20 Pin[3] = _pin_h2;
kikoaac 3:dea2df71cb97 21 Pin[4] = _pwm;
kikoaac 3:dea2df71cb97 22 max=1.0;
kikoaac 3:dea2df71cb97 23 //this
kikoaac 2:ef4a9c047681 24 PwmPin.period_ms(10);
kikoaac 0:1252cd3b995f 25 run(Stop,1);
kikoaac 0:1252cd3b995f 26 }
kikoaac 0:1252cd3b995f 27 void Motor::run(int i,float duty)
kikoaac 0:1252cd3b995f 28 {
kikoaac 3:dea2df71cb97 29 //static int state;
kikoaac 3:dea2df71cb97 30 Duty = (float)duty*max;
kikoaac 1:4ab6e9768847 31 //printf("Duty %f \n",(float)duty);
kikoaac 0:1252cd3b995f 32 //if(state==i)return;
kikoaac 3:dea2df71cb97 33 PwmPin = Duty*Duty;
kikoaac 0:1252cd3b995f 34 if(state==i)return;
kikoaac 0:1252cd3b995f 35 motor=0;
kikoaac 0:1252cd3b995f 36 //wait_us(20);
kikoaac 1:4ab6e9768847 37 /*t.start();
kikoaac 0:1252cd3b995f 38 t.reset();
kikoaac 1:4ab6e9768847 39 while(t.read_us()>=20);*/
kikoaac 1:4ab6e9768847 40 wait_us(20);
kikoaac 0:1252cd3b995f 41 if(i==Front) motor=0x01|0x04;
kikoaac 0:1252cd3b995f 42 else if(i==Back) motor=0x02|0x08;
kikoaac 0:1252cd3b995f 43 else if(i==Stop) motor=0x01|0x08;
kikoaac 0:1252cd3b995f 44 else if(i==Free) motor=0x00|0x00;
kikoaac 3:dea2df71cb97 45 else motor=0;
kikoaac 0:1252cd3b995f 46 state=i;
kikoaac 0:1252cd3b995f 47 }
kikoaac 0:1252cd3b995f 48
kikoaac 1:4ab6e9768847 49
kikoaac 1:4ab6e9768847 50
kikoaac 3:dea2df71cb97 51