Kiko Ishimoto
Ｍｏｔｏｒ
Dependents: Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more
Diff: Motor.h
- Revision:
- 0:1252cd3b995f
- Child:
- 1:4ab6e9768847
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h Fri Jun 19 06:35:46 2015 +0000
@@ -0,0 +1,38 @@
+
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+#define Front 1
+#define Back 2
+#define Stop 3
+#define Free 4
+class Motor {
+
+public:
+
+ Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max);
+ Motor& operator= (float duty)
+ {
+ if(duty<0)
+ {
+ duty*=-1;
+ run(Front,duty);
+ }
+ else if(duty>0)
+ {
+ run(Back,duty);
+ }
+ else run(Free,duty);
+ return *this;
+ }
+ void run(int i,float duty);
+ float min,max;
+private:
+
+ float Duty;
+ BusOut motor;
+ PwmOut PwmPin;
+};
+
+#endif /* PID_H */