Revision 5:3b639d84a95d, committed 2016-08-07

Comitter:

kikoaac

Date:

Sun Aug 07 12:45:33 2016 +0000

Parent:

4:56a1159c881c

Commit message:

motordrive IC;

Changed in this revision

diff -r 56a1159c881c -r 3b639d84a95d Motor.cpp
--- a/Motor.cpp	Fri Oct 30 12:47:35 2015 +0000
+++ b/Motor.cpp	Sun Aug 07 12:45:33 2016 +0000
@@ -3,7 +3,7 @@
  */
 #include "Motor.h"
 Motor::Motor(const Motor& m):
-    motor(m.Pin[0],m.Pin[1],m.Pin[2],m.Pin[3]),PwmPin(m.Pin[4])
+    mode(m.Pin[0],m.Pin[1]),PwmPin(m.Pin[2])
 {
     bias=0.0;
     max=m.max;
@@ -12,14 +12,12 @@
     run(Stop,1);
 }
 
-Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm) :
-    motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
+Motor::Motor(PinName _pin1, PinName _pin2,PinName _pwm) :
+    mode(_pin1,_pin2),PwmPin(_pwm)
 {
-     Pin[0] = _pin_h1;
-    Pin[1] = _pin_g2;
-    Pin[2] = _pin_g1;
-    Pin[3] = _pin_h2;
-    Pin[4] = _pwm;
+    Pin[0] = _pin1;
+    Pin[1] = _pin2;
+    Pin[2] = _pwm;
     max=1.0;
     //this
     PwmPin.period_ms(10);
@@ -33,17 +31,13 @@
     //if(state==i)return;
     PwmPin = Duty;
     if(state==i)return;
-    motor=0;
-    //wait_us(20);
-    /*t.start();
-    t.reset();
-    while(t.read_us()>=20);*/
-    wait_us(200);
-    if(i==Front) motor=0x01|0x04;
-    else if(i==Back) motor=0x02|0x08;
-    else if(i==Stop) motor=0x01|0x08;
-    else if(i==Free) motor=0x00|0x00;
-    else motor=0;
+    mode=0;
+    wait_us(20);
+    if(i==Free) mode=0x00;
+    else if(i==Back) mode=0x01|0x00;
+    else if(i==Front) mode=0x00|0x02;
+    else if(i==Stop) mode=0x01|0x02;
+    else mode=0x00;
     state=i;
 }
 

diff -r 56a1159c881c -r 3b639d84a95d Motor.h
--- a/Motor.h	Fri Oct 30 12:47:35 2015 +0000
+++ b/Motor.h	Sun Aug 07 12:45:33 2016 +0000
@@ -8,7 +8,7 @@
 #define Stop 3
 #define Free 4
 class Motor {
-protected : PinName Pin[5];
+protected : PinName Pin[3];
     float bias;
     Motor(const Motor& m);
     Motor& operator=(const Motor &m) {
@@ -16,17 +16,17 @@
     }
 public:
 
-    Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm);
+    Motor(PinName _pin1, PinName _pin2,PinName _pwm);
 
    
     Motor& operator= (float duty)
     {
-        if(duty<-0.1F)
+        if(duty<-0.01F)
         {
             duty*=-1;
             run(Back,duty);
         }
-        else if(float(duty)>0.1F)
+        else if(float(duty)>0.01F)
         {
             run(Front,duty);
         }
@@ -46,7 +46,7 @@
 private:
     int state;
     float Duty;
-    BusOut motor;
+    BusOut mode;
     PwmOut PwmPin;
 };