Revision 0:f70df5665a61, committed 2021-01-10

Comitter:

mhdk

Date:

Sun Jan 10 21:04:04 2021 +0000

Commit message:

init

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MuscleWrite.cpp	Sun Jan 10 21:04:04 2021 +0000
@@ -0,0 +1,73 @@
+/*!
+ * @file MuscleWrite.cpp
+ * @brief basic program for muscle controll with mbed/nucleo f446RE 
+ * @author m.hdk <m.hdk816@gmail.com>
+ * @date 2021
+ */
+
+#include "mbed.h"
+#include "MuscleWrite.h"
+
+MuscleWrite::MuscleWrite(PinName pulse_pin,
+                         float period,
+                         float width)
+    : pulse_pin_(pulse_pin), period_(period), width_(width)
+{
+    out = false;
+    pulse_pin_ = 0;
+    period_ = period;
+    width_ = width;
+}
+
+void MuscleWrite::enable()
+{
+    over_cut_width();
+    tic.attach(this, &MuscleWrite::rise, period_);
+}
+
+void MuscleWrite::disable()
+{
+    tic.detach();
+    pulse_pin_ = 0;
+    out = false;
+}
+
+void MuscleWrite::rise()
+{
+    if (out)
+    {
+        pulse_pin_ = 1;
+        tim.attach(this, &MuscleWrite::fall, width_);
+    }
+}
+
+void MuscleWrite::fall()
+{
+    pulse_pin_ = 0;
+}
+int MuscleWrite::over_cut_width()
+{
+    float max = 0.0f;
+    max = (period_ / 2.0f);
+    if (max < width_)
+    {
+        width_ = max;
+        return 1;
+    }
+    else
+    {
+        return 0;
+    }
+}
+
+void MuscleWrite::write(bool trg)
+{
+    if (trg)
+    {
+        out = true;
+    }
+    else
+    {
+        out = false;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MuscleWrite.h	Sun Jan 10 21:04:04 2021 +0000
@@ -0,0 +1,33 @@
+/*!
+ * @file MuscleWrite.h
+ * @brief basic program for muscle controll with mbed/nucleo f446RE 
+ * @author m.hdk <m.hdk816@gmail.com>
+ * @date 2021
+ */
+
+#ifndef MuscleWrite_H
+#define MuscleWrite_H
+
+#include "mbed.h"
+
+class MuscleWrite
+{
+public:
+    MuscleWrite(PinName pulse_pin, float period = 0.025, float width = 0.002);
+    void enable();
+    void disable();
+    void write(bool s);
+
+private:
+    Timeout tim;
+    Ticker tic;
+    DigitalOut pulse_pin_;
+    float period_;
+    float width_;
+    bool out;
+    int over_cut_width();
+    void rise();
+    void fall();
+};
+
+#endif
\ No newline at end of file