Kiko Ishimoto / Motor2

Motor2

Dependents:   OneCircleRobot

Fork of Motor by Kiko Ishimoto

Motor.cpp@5:db97e97ac00a, 2016-08-07 (annotated)

Committer:
kikoaac
Date:
Sun Aug 07 12:47:01 2016 +0000
Revision:
5:db97e97ac00a
Parent:
4:56a1159c881c 
motorIC;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikoaac 0:1252cd3b995f 1 /**
kikoaac 0:1252cd3b995f 2 * Includes
kikoaac 0:1252cd3b995f 3 */
kikoaac 0:1252cd3b995f 4 #include "Motor.h"
kikoaac 3:dea2df71cb97 5 Motor::Motor(const Motor& m):
kikoaac 5:db97e97ac00a 6 mode(m.Pin[0],m.Pin[1]),PwmPin(m.Pin[2])
kikoaac 3:dea2df71cb97 7 {
kikoaac 4:56a1159c881c 8 bias=0.0;
kikoaac 3:dea2df71cb97 9 max=m.max;
kikoaac 3:dea2df71cb97 10 //this
kikoaac 3:dea2df71cb97 11 PwmPin.period_ms(20);
kikoaac 3:dea2df71cb97 12 run(Stop,1);
kikoaac 3:dea2df71cb97 13 }
kikoaac 0:1252cd3b995f 14
kikoaac 5:db97e97ac00a 15 Motor::Motor(PinName _pin1, PinName _pin2,PinName _pwm) :
kikoaac 5:db97e97ac00a 16 mode(_pin1,_pin2),PwmPin(_pwm)
kikoaac 0:1252cd3b995f 17 {
kikoaac 5:db97e97ac00a 18 Pin[0] = _pin1;
kikoaac 5:db97e97ac00a 19 Pin[1] = _pin2;
kikoaac 5:db97e97ac00a 20 Pin[2] = _pwm;
kikoaac 3:dea2df71cb97 21 max=1.0;
kikoaac 3:dea2df71cb97 22 //this
kikoaac 2:ef4a9c047681 23 PwmPin.period_ms(10);
kikoaac 0:1252cd3b995f 24 run(Stop,1);
kikoaac 0:1252cd3b995f 25 }
kikoaac 0:1252cd3b995f 26 void Motor::run(int i,float duty)
kikoaac 0:1252cd3b995f 27 {
kikoaac 3:dea2df71cb97 28 //static int state;
kikoaac 4:56a1159c881c 29 Duty = (float)duty*max+bias;
kikoaac 1:4ab6e9768847 30 //printf("Duty %f \n",(float)duty);
kikoaac 0:1252cd3b995f 31 //if(state==i)return;
kikoaac 4:56a1159c881c 32 PwmPin = Duty;
kikoaac 0:1252cd3b995f 33 if(state==i)return;
kikoaac 5:db97e97ac00a 34 mode=0;
kikoaac 5:db97e97ac00a 35 wait_us(20);
kikoaac 5:db97e97ac00a 36 if(i==Free) mode=0x00;
kikoaac 5:db97e97ac00a 37 else if(i==Back) mode=0x01|0x00;
kikoaac 5:db97e97ac00a 38 else if(i==Front) mode=0x00|0x02;
kikoaac 5:db97e97ac00a 39 else if(i==Stop) mode=0x01|0x02;
kikoaac 5:db97e97ac00a 40 else mode=0x00;
kikoaac 0:1252cd3b995f 41 state=i;
kikoaac 0:1252cd3b995f 42 }
kikoaac 0:1252cd3b995f 43
kikoaac 1:4ab6e9768847 44
kikoaac 1:4ab6e9768847 45
kikoaac 3:dea2df71cb97 46