Kiko Ishimoto / Motor2

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Dependents:   OneCircleRobot

Fork of Motor by Kiko Ishimoto

Motor.h@0:1252cd3b995f, 2015-06-19 (annotated)

Committer:
kikoaac
Date:
Fri Jun 19 06:35:46 2015 +0000
Revision:
0:1252cd3b995f
Child:
1:4ab6e9768847
Motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikoaac 0:1252cd3b995f 1
kikoaac 0:1252cd3b995f 2 #ifndef PID_H
kikoaac 0:1252cd3b995f 3 #define PID_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 0:1252cd3b995f 17 if(duty<0)
kikoaac 0:1252cd3b995f 18 {
kikoaac 0:1252cd3b995f 19 duty*=-1;
kikoaac 0:1252cd3b995f 20 run(Front,duty);
kikoaac 0:1252cd3b995f 21 }
kikoaac 0:1252cd3b995f 22 else if(duty>0)
kikoaac 0:1252cd3b995f 23 {
kikoaac 0:1252cd3b995f 24 run(Back,duty);
kikoaac 0:1252cd3b995f 25 }
kikoaac 0:1252cd3b995f 26 else run(Free,duty);
kikoaac 0:1252cd3b995f 27 return *this;
kikoaac 0:1252cd3b995f 28 }
kikoaac 0:1252cd3b995f 29 void run(int i,float duty);
kikoaac 0:1252cd3b995f 30 float min,max;
kikoaac 0:1252cd3b995f 31 private:
kikoaac 0:1252cd3b995f 32
kikoaac 0:1252cd3b995f 33 float Duty;
kikoaac 0:1252cd3b995f 34 BusOut motor;
kikoaac 0:1252cd3b995f 35 PwmOut PwmPin;
kikoaac 0:1252cd3b995f 36 };
kikoaac 0:1252cd3b995f 37
kikoaac 0:1252cd3b995f 38 #endif /* PID_H */