Motor
Dependents: Nucleo_spi 2015_denziben_i2c_S2 Nucleo_Motor Nucleo_Motor ... more
Motor.h@1:4ab6e9768847, 2015-07-21 (annotated)
- Committer:
- kikoaac
- Date:
- Tue Jul 21 08:11:59 2015 +0000
- Revision:
- 1:4ab6e9768847
- Parent:
- 0:1252cd3b995f
- Child:
- 3:dea2df71cb97
Motor
;
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 | 0:1252cd3b995f | 11 | |
kikoaac | 0:1252cd3b995f | 12 | public: |
kikoaac | 0:1252cd3b995f | 13 | |
kikoaac | 0:1252cd3b995f | 14 | Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max); |
kikoaac | 0:1252cd3b995f | 15 | Motor& operator= (float duty) |
kikoaac | 0:1252cd3b995f | 16 | { |
kikoaac | 1:4ab6e9768847 | 17 | if(duty<-0.01) |
kikoaac | 0:1252cd3b995f | 18 | { |
kikoaac | 0:1252cd3b995f | 19 | duty*=-1; |
kikoaac | 1:4ab6e9768847 | 20 | run(Back,duty); |
kikoaac | 0:1252cd3b995f | 21 | } |
kikoaac | 1:4ab6e9768847 | 22 | else if(duty>0.01) |
kikoaac | 0:1252cd3b995f | 23 | { |
kikoaac | 1:4ab6e9768847 | 24 | run(Front,duty); |
kikoaac | 0:1252cd3b995f | 25 | } |
kikoaac | 0:1252cd3b995f | 26 | else run(Free,duty); |
kikoaac | 0:1252cd3b995f | 27 | return *this; |
kikoaac | 0:1252cd3b995f | 28 | } |
kikoaac | 1:4ab6e9768847 | 29 | void setup(int _state); |
kikoaac | 0:1252cd3b995f | 30 | void run(int i,float duty); |
kikoaac | 0:1252cd3b995f | 31 | float min,max; |
kikoaac | 0:1252cd3b995f | 32 | private: |
kikoaac | 1:4ab6e9768847 | 33 | int state; |
kikoaac | 0:1252cd3b995f | 34 | float Duty; |
kikoaac | 0:1252cd3b995f | 35 | BusOut motor; |
kikoaac | 0:1252cd3b995f | 36 | PwmOut PwmPin; |
kikoaac | 0:1252cd3b995f | 37 | }; |
kikoaac | 0:1252cd3b995f | 38 | |
kikoaac | 0:1252cd3b995f | 39 | #endif /* PID_H */ |