Kiko Ishimoto / Motor2

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Dependents:   OneCircleRobot

Fork of Motor by Kiko Ishimoto

Motor.cpp@4:56a1159c881c, 2015-10-30 (annotated)

Committer:
kikoaac
Date:
Fri Oct 30 12:47:35 2015 +0000
Revision:
4:56a1159c881c
Parent:
3:dea2df71cb97
Child:
5:db97e97ac00a
???

;

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 3:dea2df71cb97 6 motor(m.Pin[0],m.Pin[1],m.Pin[2],m.Pin[3]),PwmPin(m.Pin[4])
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 3:dea2df71cb97 15 Motor::Motor(PinName _pin_h1, PinName _pin_g2, PinName _pin_g1, PinName _pin_h2,PinName _pwm) :
kikoaac 3:dea2df71cb97 16 motor(_pin_h1,_pin_g2,_pin_g1,_pin_h2),PwmPin(_pwm)
kikoaac 0:1252cd3b995f 17 {
kikoaac 3:dea2df71cb97 18 Pin[0] = _pin_h1;
kikoaac 3:dea2df71cb97 19 Pin[1] = _pin_g2;
kikoaac 3:dea2df71cb97 20 Pin[2] = _pin_g1;
kikoaac 3:dea2df71cb97 21 Pin[3] = _pin_h2;
kikoaac 3:dea2df71cb97 22 Pin[4] = _pwm;
kikoaac 3:dea2df71cb97 23 max=1.0;
kikoaac 3:dea2df71cb97 24 //this
kikoaac 2:ef4a9c047681 25 PwmPin.period_ms(10);
kikoaac 0:1252cd3b995f 26 run(Stop,1);
kikoaac 0:1252cd3b995f 27 }
kikoaac 0:1252cd3b995f 28 void Motor::run(int i,float duty)
kikoaac 0:1252cd3b995f 29 {
kikoaac 3:dea2df71cb97 30 //static int state;
kikoaac 4:56a1159c881c 31 Duty = (float)duty*max+bias;
kikoaac 1:4ab6e9768847 32 //printf("Duty %f \n",(float)duty);
kikoaac 0:1252cd3b995f 33 //if(state==i)return;
kikoaac 4:56a1159c881c 34 PwmPin = Duty;
kikoaac 0:1252cd3b995f 35 if(state==i)return;
kikoaac 0:1252cd3b995f 36 motor=0;
kikoaac 0:1252cd3b995f 37 //wait_us(20);
kikoaac 1:4ab6e9768847 38 /*t.start();
kikoaac 0:1252cd3b995f 39 t.reset();
kikoaac 1:4ab6e9768847 40 while(t.read_us()>=20);*/
kikoaac 4:56a1159c881c 41 wait_us(200);
kikoaac 0:1252cd3b995f 42 if(i==Front) motor=0x01|0x04;
kikoaac 0:1252cd3b995f 43 else if(i==Back) motor=0x02|0x08;
kikoaac 0:1252cd3b995f 44 else if(i==Stop) motor=0x01|0x08;
kikoaac 0:1252cd3b995f 45 else if(i==Free) motor=0x00|0x00;
kikoaac 3:dea2df71cb97 46 else motor=0;
kikoaac 0:1252cd3b995f 47 state=i;
kikoaac 0:1252cd3b995f 48 }
kikoaac 0:1252cd3b995f 49
kikoaac 1:4ab6e9768847 50
kikoaac 1:4ab6e9768847 51
kikoaac 3:dea2df71cb97 52