toshi mura / Mbed 2 deprecated NRP2020_main

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Dependencies:   mbed MCP23017

Motor/Motor.h@2:32d2cd7d744b, 2020-01-23 (annotated)

Committer:
M_souta
Date:
Thu Jan 23 09:16:38 2020 +0000
Revision:
2:32d2cd7d744b
Parent:
1:5b0303768126
Child:
3:8790e69f8c59
lll

Who changed what in which revision?

UserRevisionLine numberNew contents of line
M_souta 2:32d2cd7d744b 1 #ifndef MOTOR_H_
M_souta 2:32d2cd7d744b 2 #define MOTOR_H_
M_souta 2:32d2cd7d744b 3
M_souta 2:32d2cd7d744b 4 #include <stdint.h>
M_souta 0:db8d4af513c0 5
M_souta 2:32d2cd7d744b 6 //#define USE_MOTOR0_SENSOR
M_souta 2:32d2cd7d744b 7 namespace MOTOR
M_souta 2:32d2cd7d744b 8 {
M_souta 2:32d2cd7d744b 9 #define FREE 0
M_souta 2:32d2cd7d744b 10 #define BACK 1
M_souta 2:32d2cd7d744b 11 #define FOR 2
M_souta 2:32d2cd7d744b 12 #define BRAKE 3
M_souta 2:32d2cd7d744b 13
M_souta 2:32d2cd7d744b 14 #define MOUNTING_MOTOR_NUM 5
M_souta 0:db8d4af513c0 15
M_souta 2:32d2cd7d744b 16 #define MOTOR0_D1 directions[0]
M_souta 2:32d2cd7d744b 17 #define MOTOR0_D2 directions[1]
M_souta 2:32d2cd7d744b 18 #define MOTOR1_D1 directions[2]
M_souta 2:32d2cd7d744b 19 #define MOTOR1_D2 directions[3]
M_souta 2:32d2cd7d744b 20 #define MOTOR2_D1 directions[4]
M_souta 2:32d2cd7d744b 21 #define MOTOR2_D2 directions[5]
M_souta 2:32d2cd7d744b 22 #define MOTOR3_D1 directions[6]
M_souta 2:32d2cd7d744b 23 #define MOTOR3_D2 directions[7]
M_souta 2:32d2cd7d744b 24 #define MOTOR4_D1 directions[8]
M_souta 2:32d2cd7d744b 25 #define MOTOR4_D2 directions[9]
M_souta 2:32d2cd7d744b 26
M_souta 2:32d2cd7d744b 27 #define MOTOR0_D1_PIN D3
M_souta 2:32d2cd7d744b 28 #define MOTOR0_D2_PIN D4
M_souta 2:32d2cd7d744b 29 #define MOTOR1_D1_PIN D5
M_souta 2:32d2cd7d744b 30 #define MOTOR1_D2_PIN D6
M_souta 2:32d2cd7d744b 31 #define MOTOR2_D1_PIN D8
M_souta 2:32d2cd7d744b 32 #define MOTOR2_D2_PIN D9
M_souta 2:32d2cd7d744b 33 #define MOTOR3_D1_PIN D12
M_souta 2:32d2cd7d744b 34 #define MOTOR3_D2_PIN A3
M_souta 2:32d2cd7d744b 35 #define MOTOR4_D1_PIN A1
M_souta 2:32d2cd7d744b 36 #define MOTOR4_D2_PIN A0
M_souta 0:db8d4af513c0 37
M_souta 2:32d2cd7d744b 38 #define MOTOR0_PWM_PIN D2
M_souta 2:32d2cd7d744b 39 #define MOTOR1_PWM_PIN D7
M_souta 2:32d2cd7d744b 40 #define MOTOR2_PWM_PIN D10
M_souta 2:32d2cd7d744b 41 #define MOTOR3_PWM_PIN D11
M_souta 2:32d2cd7d744b 42 #define MOTOR4_PWM_PIN A2
M_souta 2:32d2cd7d744b 43
M_souta 2:32d2cd7d744b 44 #ifdef USE_MOTOR0_SENSOR
M_souta 2:32d2cd7d744b 45 #define MOTOR_START_NUM 1
M_souta 2:32d2cd7d744b 46 #else
M_souta 2:32d2cd7d744b 47 #define MOTOR_START_NUM 0
M_souta 2:32d2cd7d744b 48 #endif
M_souta 0:db8d4af513c0 49
M_souta 2:32d2cd7d744b 50 typedef struct
M_souta 2:32d2cd7d744b 51 {
M_souta 2:32d2cd7d744b 52 union
M_souta 2:32d2cd7d744b 53 {
M_souta 2:32d2cd7d744b 54 struct
M_souta 2:32d2cd7d744b 55 {
M_souta 2:32d2cd7d744b 56 unsigned int d2 : 1;
M_souta 2:32d2cd7d744b 57 unsigned int d1 : 1;
M_souta 2:32d2cd7d744b 58 unsigned int : 6;
M_souta 2:32d2cd7d744b 59 };
M_souta 2:32d2cd7d744b 60 uint8_t dir;
M_souta 2:32d2cd7d744b 61 };
M_souta 2:32d2cd7d744b 62 float pwm;
M_souta 2:32d2cd7d744b 63 }MotorStatus;
M_souta 0:db8d4af513c0 64
M_souta 2:32d2cd7d744b 65 class Motor
M_souta 2:32d2cd7d744b 66 {
M_souta 2:32d2cd7d744b 67 public:
M_souta 2:32d2cd7d744b 68 static void Initialize(void);
M_souta 2:32d2cd7d744b 69 static void Update(MotorStatus *status);
M_souta 2:32d2cd7d744b 70 static void SetDefault(void);
M_souta 2:32d2cd7d744b 71 static int SetStatus(float pwm);
M_souta 2:32d2cd7d744b 72 static float SetPWM(float pwm);
M_souta 2:32d2cd7d744b 73 };
M_souta 2:32d2cd7d744b 74 }
M_souta 2:32d2cd7d744b 75
M_souta 2:32d2cd7d744b 76 #endif