Kiko Ishimoto / Motor2

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Dependents:   OneCircleRobot

Fork of Motor by Kiko Ishimoto

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?

UserRevisionLine numberNew 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 */