Kiko Ishimoto / Motor

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Dependents:   Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more

Motor.cpp@2:ef4a9c047681, 2015-08-18 (annotated)

Committer:
kikoaac
Date:
Tue Aug 18 04:44:54 2015 +0000
Revision:
2:ef4a9c047681
Parent:
1:4ab6e9768847
Child:
3:dea2df71cb97
Motor

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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 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 2:ef4a9c047681 10 //this
kikoaac 2:ef4a9c047681 11 PwmPin.period_ms(10);
kikoaac 0:1252cd3b995f 12 run(Stop,1);
kikoaac 0:1252cd3b995f 13 }
kikoaac 1:4ab6e9768847 14 void Motor::setup(int _state)
kikoaac 1:4ab6e9768847 15 {
kikoaac 1:4ab6e9768847 16
kikoaac 1:4ab6e9768847 17 }
kikoaac 0:1252cd3b995f 18 void Motor::run(int i,float duty)
kikoaac 0:1252cd3b995f 19 {
kikoaac 0:1252cd3b995f 20 static int state;
kikoaac 1:4ab6e9768847 21 Duty = (float)duty;
kikoaac 1:4ab6e9768847 22 //printf("Duty %f \n",(float)duty);
kikoaac 0:1252cd3b995f 23 //if(state==i)return;
kikoaac 0:1252cd3b995f 24 PwmPin = Duty;
kikoaac 0:1252cd3b995f 25 if(state==i)return;
kikoaac 0:1252cd3b995f 26 Timer t;
kikoaac 0:1252cd3b995f 27 motor=0;
kikoaac 0:1252cd3b995f 28 //wait_us(20);
kikoaac 1:4ab6e9768847 29 /*t.start();
kikoaac 0:1252cd3b995f 30 t.reset();
kikoaac 1:4ab6e9768847 31 while(t.read_us()>=20);*/
kikoaac 1:4ab6e9768847 32 wait_us(20);
kikoaac 0:1252cd3b995f 33 if(i==Front) motor=0x01|0x04;
kikoaac 0:1252cd3b995f 34 else if(i==Back) motor=0x02|0x08;
kikoaac 0:1252cd3b995f 35 else if(i==Stop) motor=0x01|0x08;
kikoaac 0:1252cd3b995f 36 else if(i==Free) motor=0x00|0x00;
kikoaac 0:1252cd3b995f 37 else motor=0;
kikoaac 0:1252cd3b995f 38 state=i;
kikoaac 0:1252cd3b995f 39 }
kikoaac 0:1252cd3b995f 40
kikoaac 1:4ab6e9768847 41
kikoaac 1:4ab6e9768847 42