Li Weiyi
/
Cube
Microduino的cube小车。
Microduino_Motor.cpp@3:e4ac7c1a14de, 2016-05-27 (annotated)
- Committer:
- lixianyu
- Date:
- Fri May 27 01:44:31 2016 +0000
- Revision:
- 3:e4ac7c1a14de
- Parent:
- 2:70ca3e685cca
- Child:
- 4:0670023d3f36
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Who changed what in which revision?
User | Revision | Line number | New 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 | 3:e4ac7c1a14de | 13 | #if 0 |
lixianyu | 3:e4ac7c1a14de | 14 | pinMode( _motor_pinA, OUTPUT) ; |
lixianyu | 3:e4ac7c1a14de | 15 | #else |
lixianyu | 3:e4ac7c1a14de | 16 | _period_us = 2000; // 500Hz |
lixianyu | 3:e4ac7c1a14de | 17 | pwmout_init(&_pwmA, _motor_pinA); |
lixianyu | 3:e4ac7c1a14de | 18 | pwmout_period_us(&_pwmA, _period_us); // 500Hz |
lixianyu | 3:e4ac7c1a14de | 19 | #endif |
lixianyu | 1:758ccab13947 | 20 | motors[this->motorIndex].Pin.nbr_A = _motor_pinA; |
lixianyu | 1:758ccab13947 | 21 | |
lixianyu | 3:e4ac7c1a14de | 22 | #if 0 |
lixianyu | 3:e4ac7c1a14de | 23 | pinMode( _motor_pinB, OUTPUT) ; |
lixianyu | 3:e4ac7c1a14de | 24 | #else |
lixianyu | 3:e4ac7c1a14de | 25 | pwmout_init(&_pwmB, _motor_pinB); |
lixianyu | 3:e4ac7c1a14de | 26 | pwmout_period_us(&_pwmB, _period_us); // 500Hz |
lixianyu | 3:e4ac7c1a14de | 27 | #endif |
lixianyu | 1:758ccab13947 | 28 | motors[this->motorIndex].Pin.nbr_B = _motor_pinB; |
lixianyu | 1:758ccab13947 | 29 | |
lixianyu | 1:758ccab13947 | 30 | this->fix=1; |
lixianyu | 1:758ccab13947 | 31 | } |
lixianyu | 3:e4ac7c1a14de | 32 | } else { |
lixianyu | 1:758ccab13947 | 33 | this->motorIndex = 255 ; // too many keys |
lixianyu | 3:e4ac7c1a14de | 34 | } |
lixianyu | 1:758ccab13947 | 35 | } |
lixianyu | 1:758ccab13947 | 36 | |
lixianyu | 1:758ccab13947 | 37 | void Motor::Fix(float _fix) |
lixianyu | 1:758ccab13947 | 38 | { |
lixianyu | 1:758ccab13947 | 39 | this->fix=_fix; |
lixianyu | 1:758ccab13947 | 40 | } |
lixianyu | 1:758ccab13947 | 41 | |
lixianyu | 1:758ccab13947 | 42 | int16_t Motor::GetData(int16_t _throttle, int16_t _steering, bool _dir) |
lixianyu | 1:758ccab13947 | 43 | { |
lixianyu | 1:758ccab13947 | 44 | this->_motor_vol = _throttle; |
lixianyu | 1:758ccab13947 | 45 | |
lixianyu | 1:758ccab13947 | 46 | if(_dir) |
lixianyu | 1:758ccab13947 | 47 | this->_motor_vol -= _steering / 2; |
lixianyu | 1:758ccab13947 | 48 | else |
lixianyu | 1:758ccab13947 | 49 | this->_motor_vol += _steering / 2; |
lixianyu | 1:758ccab13947 | 50 | |
lixianyu | 1:758ccab13947 | 51 | if (this->_motor_vol > 255) |
lixianyu | 1:758ccab13947 | 52 | this->_motor_vol = 255; |
lixianyu | 1:758ccab13947 | 53 | else if (this->_motor_vol < -255) |
lixianyu | 1:758ccab13947 | 54 | this->_motor_vol = -255; |
lixianyu | 1:758ccab13947 | 55 | |
lixianyu | 1:758ccab13947 | 56 | this->_motor_vol *= fix; |
lixianyu | 1:758ccab13947 | 57 | |
lixianyu | 1:758ccab13947 | 58 | return this->_motor_vol; |
lixianyu | 1:758ccab13947 | 59 | } |
lixianyu | 1:758ccab13947 | 60 | |
lixianyu | 3:e4ac7c1a14de | 61 | #if 0 |
lixianyu | 1:758ccab13947 | 62 | void Motor::Driver(int16_t _motor_driver) |
lixianyu | 1:758ccab13947 | 63 | { |
lixianyu | 1:758ccab13947 | 64 | int8_t channel_A = motors[this->motorIndex].Pin.nbr_A; |
lixianyu | 1:758ccab13947 | 65 | int8_t channel_B = motors[this->motorIndex].Pin.nbr_B; |
lixianyu | 1:758ccab13947 | 66 | if (_motor_driver == 0) { |
lixianyu | 1:758ccab13947 | 67 | digitalWrite(channel_A, LOW); |
lixianyu | 1:758ccab13947 | 68 | digitalWrite(channel_B, LOW); |
lixianyu | 1:758ccab13947 | 69 | } else if (_motor_driver > 0) { |
lixianyu | 1:758ccab13947 | 70 | analogWrite(channel_A, _motor_driver); |
lixianyu | 1:758ccab13947 | 71 | digitalWrite(channel_B, LOW); |
lixianyu | 1:758ccab13947 | 72 | } else { |
lixianyu | 1:758ccab13947 | 73 | analogWrite(channel_A, 255 + _motor_driver); |
lixianyu | 1:758ccab13947 | 74 | digitalWrite(channel_B, HIGH); |
lixianyu | 1:758ccab13947 | 75 | } |
lixianyu | 1:758ccab13947 | 76 | } |
lixianyu | 3:e4ac7c1a14de | 77 | #else |
lixianyu | 3:e4ac7c1a14de | 78 | void Motor::Driver(int16_t _motor_driver) |
lixianyu | 3:e4ac7c1a14de | 79 | { |
lixianyu | 3:e4ac7c1a14de | 80 | int16_t pulseWidth = 0; |
lixianyu | 3:e4ac7c1a14de | 81 | PinName channel_A = motors[this->motorIndex].Pin.nbr_A; |
lixianyu | 3:e4ac7c1a14de | 82 | PinName channel_B = motors[this->motorIndex].Pin.nbr_B; |
lixianyu | 3:e4ac7c1a14de | 83 | if (_motor_driver == 0) { |
lixianyu | 3:e4ac7c1a14de | 84 | pwmout_pulsewidth_us(&_pwmA, 0); |
lixianyu | 3:e4ac7c1a14de | 85 | pwmout_pulsewidth_us(&_pwmB, 0); |
lixianyu | 3:e4ac7c1a14de | 86 | } else if (_motor_driver > 0) { |
lixianyu | 3:e4ac7c1a14de | 87 | pulseWidth = _period_us * _motor_driver / 255; |
lixianyu | 3:e4ac7c1a14de | 88 | pwmout_pulsewidth_us(&_pwmA, pulseWidth); |
lixianyu | 3:e4ac7c1a14de | 89 | pwmout_pulsewidth_us(&_pwmB, 0); |
lixianyu | 3:e4ac7c1a14de | 90 | } else { |
lixianyu | 3:e4ac7c1a14de | 91 | _motor_driver = 255 + _motor_driver; |
lixianyu | 3:e4ac7c1a14de | 92 | pulseWidth = _period_us * _motor_driver / 255; |
lixianyu | 3:e4ac7c1a14de | 93 | pwmout_pulsewidth_us(&_pwmA, pulseWidth); |
lixianyu | 3:e4ac7c1a14de | 94 | pwmout_pulsewidth_us(&_pwmB, _period_us); |
lixianyu | 3:e4ac7c1a14de | 95 | } |
lixianyu | 3:e4ac7c1a14de | 96 | } |
lixianyu | 3:e4ac7c1a14de | 97 | #endif |
lixianyu | 1:758ccab13947 | 98 | |
lixianyu | 1:758ccab13947 | 99 | void Motor::Free() |
lixianyu | 1:758ccab13947 | 100 | { |
lixianyu | 1:758ccab13947 | 101 | int8_t channel_A = motors[this->motorIndex].Pin.nbr_A; |
lixianyu | 1:758ccab13947 | 102 | int8_t channel_B = motors[this->motorIndex].Pin.nbr_B; |
lixianyu | 3:e4ac7c1a14de | 103 | #if 0 |
lixianyu | 1:758ccab13947 | 104 | digitalWrite(channel_A, LOW); |
lixianyu | 1:758ccab13947 | 105 | digitalWrite(channel_B, LOW); |
lixianyu | 3:e4ac7c1a14de | 106 | #else |
lixianyu | 3:e4ac7c1a14de | 107 | pwmout_pulsewidth_us(&_pwmA, 0); |
lixianyu | 3:e4ac7c1a14de | 108 | pwmout_pulsewidth_us(&_pwmB, 0); |
lixianyu | 3:e4ac7c1a14de | 109 | #endif |
lixianyu | 1:758ccab13947 | 110 | } |
lixianyu | 1:758ccab13947 | 111 | |
lixianyu | 1:758ccab13947 | 112 | void Motor::Brake() |
lixianyu | 1:758ccab13947 | 113 | { |
lixianyu | 1:758ccab13947 | 114 | int8_t channel_A = motors[this->motorIndex].Pin.nbr_A; |
lixianyu | 1:758ccab13947 | 115 | int8_t channel_B = motors[this->motorIndex].Pin.nbr_B; |
lixianyu | 3:e4ac7c1a14de | 116 | #if 0 |
lixianyu | 1:758ccab13947 | 117 | digitalWrite(channel_A, HIGH); |
lixianyu | 1:758ccab13947 | 118 | digitalWrite(channel_B, HIGH); |
lixianyu | 3:e4ac7c1a14de | 119 | #else |
lixianyu | 3:e4ac7c1a14de | 120 | pwmout_pulsewidth_us(&_pwmA, _period_us); |
lixianyu | 3:e4ac7c1a14de | 121 | pwmout_pulsewidth_us(&_pwmB, _period_us); |
lixianyu | 3:e4ac7c1a14de | 122 | #endif |
lixianyu | 1:758ccab13947 | 123 | } |