Motor
Dependents: Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more
Motor.h@5:3b639d84a95d, 2016-08-07 (annotated)
- Committer:
- kikoaac
- Date:
- Sun Aug 07 12:45:33 2016 +0000
- Revision:
- 5:3b639d84a95d
- Parent:
- 4:56a1159c881c
motordrive IC;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kikoaac | 0:1252cd3b995f | 1 | |
kikoaac | 1:4ab6e9768847 | 2 | #ifndef Motor_H |
kikoaac | 1:4ab6e9768847 | 3 | #define Motor_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 | 5:3b639d84a95d | 11 | protected : PinName Pin[3]; |
kikoaac | 4:56a1159c881c | 12 | float bias; |
kikoaac | 3:dea2df71cb97 | 13 | Motor(const Motor& m); |
kikoaac | 3:dea2df71cb97 | 14 | Motor& operator=(const Motor &m) { |
kikoaac | 3:dea2df71cb97 | 15 | return *this; |
kikoaac | 3:dea2df71cb97 | 16 | } |
kikoaac | 0:1252cd3b995f | 17 | public: |
kikoaac | 0:1252cd3b995f | 18 | |
kikoaac | 5:3b639d84a95d | 19 | Motor(PinName _pin1, PinName _pin2,PinName _pwm); |
kikoaac | 3:dea2df71cb97 | 20 | |
kikoaac | 3:dea2df71cb97 | 21 | |
kikoaac | 0:1252cd3b995f | 22 | Motor& operator= (float duty) |
kikoaac | 0:1252cd3b995f | 23 | { |
kikoaac | 5:3b639d84a95d | 24 | if(duty<-0.01F) |
kikoaac | 0:1252cd3b995f | 25 | { |
kikoaac | 0:1252cd3b995f | 26 | duty*=-1; |
kikoaac | 1:4ab6e9768847 | 27 | run(Back,duty); |
kikoaac | 0:1252cd3b995f | 28 | } |
kikoaac | 5:3b639d84a95d | 29 | else if(float(duty)>0.01F) |
kikoaac | 0:1252cd3b995f | 30 | { |
kikoaac | 1:4ab6e9768847 | 31 | run(Front,duty); |
kikoaac | 0:1252cd3b995f | 32 | } |
kikoaac | 4:56a1159c881c | 33 | else run(Stop,0); |
kikoaac | 0:1252cd3b995f | 34 | return *this; |
kikoaac | 0:1252cd3b995f | 35 | } |
kikoaac | 0:1252cd3b995f | 36 | void run(int i,float duty); |
kikoaac | 0:1252cd3b995f | 37 | float min,max; |
kikoaac | 4:56a1159c881c | 38 | void setbias_motor(float b){bias=b;} |
kikoaac | 3:dea2df71cb97 | 39 | void duty_max(float Max){max=Max;} |
kikoaac | 3:dea2df71cb97 | 40 | void duty_min(float Min){min=Min;} |
kikoaac | 3:dea2df71cb97 | 41 | float getduty() |
kikoaac | 3:dea2df71cb97 | 42 | { |
kikoaac | 3:dea2df71cb97 | 43 | float a = PwmPin.read(); |
kikoaac | 3:dea2df71cb97 | 44 | return a; |
kikoaac | 3:dea2df71cb97 | 45 | } |
kikoaac | 0:1252cd3b995f | 46 | private: |
kikoaac | 1:4ab6e9768847 | 47 | int state; |
kikoaac | 0:1252cd3b995f | 48 | float Duty; |
kikoaac | 5:3b639d84a95d | 49 | BusOut mode; |
kikoaac | 0:1252cd3b995f | 50 | PwmOut PwmPin; |
kikoaac | 0:1252cd3b995f | 51 | }; |
kikoaac | 0:1252cd3b995f | 52 | |
kikoaac | 0:1252cd3b995f | 53 | #endif /* PID_H */ |