Kiko Ishimoto
/
Motor2
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
Motor
by 
Kiko Ishimoto
Revision 0:1252cd3b995f, committed 2015-06-19
- Comitter:
- kikoaac
- Date:
- Fri Jun 19 06:35:46 2015 +0000
- Child:
- 1:4ab6e9768847
- Commit message:
- Motor
Changed in this revision
| Motor.cpp | Show annotated file Show diff for this revision Revisions of this file |
| Motor.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Fri Jun 19 06:35:46 2015 +0000
@@ -0,0 +1,33 @@
+/**
+ * Includes
+ */
+#include "Motor.h"
+
+Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max) :
+motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
+{
+ max=Max;
+ PwmPin.period_ms(10);
+ run(Stop,1);
+}
+void Motor::run(int i,float duty)
+{
+ static int state;
+ Duty = duty/max;
+ //if(state==i)return;
+ PwmPin = Duty;
+ if(state==i)return;
+ Timer t;
+ motor=0;
+ //wait_us(20);
+ t.start();
+ t.reset();
+ while(t.read_us()>=20);
+ 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;
+ state=i;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h Fri Jun 19 06:35:46 2015 +0000
@@ -0,0 +1,38 @@
+
+#ifndef PID_H
+#define PID_H
+
+#include "mbed.h"
+#define Front 1
+#define Back 2
+#define Stop 3
+#define Free 4
+class Motor {
+
+public:
+
+ Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm,float Max);
+ Motor& operator= (float duty)
+ {
+ if(duty<0)
+ {
+ duty*=-1;
+ run(Front,duty);
+ }
+ else if(duty>0)
+ {
+ run(Back,duty);
+ }
+ else run(Free,duty);
+ return *this;
+ }
+ void run(int i,float duty);
+ float min,max;
+private:
+
+ float Duty;
+ BusOut motor;
+ PwmOut PwmPin;
+};
+
+#endif /* PID_H */