Li Weiyi / Mbed 2 deprecated Cube

Microduino的cube小车。

Dependencies:   mbed-rtos mbed

Microduino_Motor.cpp@2:70ca3e685cca, 2016-05-25 (annotated)

Committer:
lixianyu
Date:
Wed May 25 13:25:09 2016 +0000
Revision:
2:70ca3e685cca
Parent:
1:758ccab13947
Child:
3:e4ac7c1a14de
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 1:758ccab13947 1 #include "Microduino_Motor.h"
lixianyu 1:758ccab13947 2
lixianyu 1:758ccab13947 3 static motor_t motors[10]; // static array of key structures
lixianyu 1:758ccab13947 4
lixianyu 1:758ccab13947 5 uint8_t MotorCount = 0; // the total number of attached keys
lixianyu 1:758ccab13947 6
lixianyu 2:70ca3e685cca 7 Motor::Motor(PinName _motor_pinA, PinName _motor_pinB)
lixianyu 1:758ccab13947 8 {
lixianyu 1:758ccab13947 9 if ( MotorCount < 10) {
lixianyu 1:758ccab13947 10 this->motorIndex = MotorCount++; // assign a key index to this instance
lixianyu 2:70ca3e685cca 11 //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
lixianyu 2:70ca3e685cca 12 if (true) {
lixianyu 2:70ca3e685cca 13 //pinMode( _motor_pinA, OUTPUT) ;
lixianyu 2:70ca3e685cca 14 gpio_init_out(&gpioA, _motor_pinA);
lixianyu 1:758ccab13947 15 motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
lixianyu 1:758ccab13947 16
lixianyu 2:70ca3e685cca 17 //pinMode( _motor_pinB, OUTPUT) ;
lixianyu 2:70ca3e685cca 18 gpio_init_out(&gpioB, _motor_pinB);
lixianyu 1:758ccab13947 19 motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
lixianyu 1:758ccab13947 20
lixianyu 1:758ccab13947 21 this->fix=1;
lixianyu 1:758ccab13947 22 }
lixianyu 1:758ccab13947 23 } else
lixianyu 1:758ccab13947 24 this->motorIndex = 255 ; // too many keys
lixianyu 1:758ccab13947 25 }
lixianyu 1:758ccab13947 26
lixianyu 1:758ccab13947 27 void Motor::Fix(float _fix)
lixianyu 1:758ccab13947 28 {
lixianyu 1:758ccab13947 29 this->fix=_fix;
lixianyu 1:758ccab13947 30 }
lixianyu 1:758ccab13947 31
lixianyu 1:758ccab13947 32 int16_t Motor::GetData(int16_t _throttle, int16_t _steering, bool _dir)
lixianyu 1:758ccab13947 33 {
lixianyu 1:758ccab13947 34 this->_motor_vol = _throttle;
lixianyu 1:758ccab13947 35
lixianyu 1:758ccab13947 36 if(_dir)
lixianyu 1:758ccab13947 37 this->_motor_vol -= _steering / 2;
lixianyu 1:758ccab13947 38 else
lixianyu 1:758ccab13947 39 this->_motor_vol += _steering / 2;
lixianyu 1:758ccab13947 40
lixianyu 1:758ccab13947 41 if (this->_motor_vol > 255)
lixianyu 1:758ccab13947 42 this->_motor_vol = 255;
lixianyu 1:758ccab13947 43 else if (this->_motor_vol < -255)
lixianyu 1:758ccab13947 44 this->_motor_vol = -255;
lixianyu 1:758ccab13947 45
lixianyu 1:758ccab13947 46 this->_motor_vol *= fix;
lixianyu 1:758ccab13947 47
lixianyu 1:758ccab13947 48 return this->_motor_vol;
lixianyu 1:758ccab13947 49 }
lixianyu 1:758ccab13947 50
lixianyu 1:758ccab13947 51
lixianyu 1:758ccab13947 52 void Motor::Driver(int16_t _motor_driver)
lixianyu 1:758ccab13947 53 {
lixianyu 1:758ccab13947 54 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 55 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 1:758ccab13947 56 if (_motor_driver == 0) {
lixianyu 1:758ccab13947 57 digitalWrite(channel_A, LOW);
lixianyu 1:758ccab13947 58 digitalWrite(channel_B, LOW);
lixianyu 1:758ccab13947 59 } else if (_motor_driver > 0) {
lixianyu 1:758ccab13947 60 analogWrite(channel_A, _motor_driver);
lixianyu 1:758ccab13947 61 digitalWrite(channel_B, LOW);
lixianyu 1:758ccab13947 62 } else {
lixianyu 1:758ccab13947 63 analogWrite(channel_A, 255 + _motor_driver);
lixianyu 1:758ccab13947 64 digitalWrite(channel_B, HIGH);
lixianyu 1:758ccab13947 65 }
lixianyu 1:758ccab13947 66 }
lixianyu 1:758ccab13947 67
lixianyu 1:758ccab13947 68 void Motor::Free()
lixianyu 1:758ccab13947 69 {
lixianyu 1:758ccab13947 70 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 71 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 1:758ccab13947 72 digitalWrite(channel_A, LOW);
lixianyu 1:758ccab13947 73 digitalWrite(channel_B, LOW);
lixianyu 1:758ccab13947 74 }
lixianyu 1:758ccab13947 75
lixianyu 1:758ccab13947 76 void Motor::Brake()
lixianyu 1:758ccab13947 77 {
lixianyu 1:758ccab13947 78 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 79 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 1:758ccab13947 80 digitalWrite(channel_A, HIGH);
lixianyu 1:758ccab13947 81 digitalWrite(channel_B, HIGH);
lixianyu 1:758ccab13947 82 }