lee sanghun / Mbed 2 deprecated 202001131705

45

Dependencies:   mbed BufferedSerial LS7366LIB FastPWM

motor.h@0:c21936a3520a, 2020-03-23 (annotated)

Committer:
lsh2205
Date:
Mon Mar 23 08:38:40 2020 +0000
Revision:
0:c21936a3520a
ss

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lsh2205 0:c21936a3520a 1 #ifndef _MOTOR_H_
lsh2205 0:c21936a3520a 2 #define _MOTOR_H_
lsh2205 0:c21936a3520a 3
lsh2205 0:c21936a3520a 4 #include "FastPWM.h"
lsh2205 0:c21936a3520a 5
lsh2205 0:c21936a3520a 6
lsh2205 0:c21936a3520a 7
lsh2205 0:c21936a3520a 8 FastPWM pwm1(MOTOR_PWM1, -1);
lsh2205 0:c21936a3520a 9 FastPWM pwm2(MOTOR_PWM2, -1);
lsh2205 0:c21936a3520a 10 FastPWM pwm3(MOTOR_PWM3, -1);
lsh2205 0:c21936a3520a 11 FastPWM pwm4(MOTOR_PWM4, -1);
lsh2205 0:c21936a3520a 12 FastPWM pwm5(MOTOR_PWM5, -1);
lsh2205 0:c21936a3520a 13 //FastPWM pwm6(MOTOR_PWM6, -1);
lsh2205 0:c21936a3520a 14
lsh2205 0:c21936a3520a 15 void motor_init()
lsh2205 0:c21936a3520a 16 {
lsh2205 0:c21936a3520a 17 pwm1.period_us(2500);
lsh2205 0:c21936a3520a 18 pwm2.period_us(2500);
lsh2205 0:c21936a3520a 19 pwm3.period_us(2500);
lsh2205 0:c21936a3520a 20 pwm4.period_us(2500);
lsh2205 0:c21936a3520a 21 pwm5.period_us(2500);
lsh2205 0:c21936a3520a 22 //pwm6.period_us(2500);
lsh2205 0:c21936a3520a 23 }
lsh2205 0:c21936a3520a 24
lsh2205 0:c21936a3520a 25 void motor_power(int motor_num,double percent)
lsh2205 0:c21936a3520a 26 {
lsh2205 0:c21936a3520a 27 percent=-percent;
lsh2205 0:c21936a3520a 28 double output=offset[motor_num];
lsh2205 0:c21936a3520a 29 if(percent<-500)
lsh2205 0:c21936a3520a 30 percent=-500;
lsh2205 0:c21936a3520a 31 if(percent>500)
lsh2205 0:c21936a3520a 32 percent=500;
lsh2205 0:c21936a3520a 33
lsh2205 0:c21936a3520a 34 output = 1-(offset[motor_num] + percent)/2500;
lsh2205 0:c21936a3520a 35
lsh2205 0:c21936a3520a 36 if(motor_num==0)
lsh2205 0:c21936a3520a 37 pwm1.write(output);
lsh2205 0:c21936a3520a 38 else if(motor_num==1)
lsh2205 0:c21936a3520a 39 pwm2.write(output);
lsh2205 0:c21936a3520a 40 else if(motor_num==2)
lsh2205 0:c21936a3520a 41 pwm3.write(output);
lsh2205 0:c21936a3520a 42 else if(motor_num==3)
lsh2205 0:c21936a3520a 43 pwm4.write(output);
lsh2205 0:c21936a3520a 44 else if(motor_num==4)
lsh2205 0:c21936a3520a 45 pwm5.write(output);
lsh2205 0:c21936a3520a 46 //else if(motor_num==5)
lsh2205 0:c21936a3520a 47 // pwm6.write(output);
lsh2205 0:c21936a3520a 48 }
lsh2205 0:c21936a3520a 49
lsh2205 0:c21936a3520a 50
lsh2205 0:c21936a3520a 51 #endif