Diff: Output/Motor/Motor.h

Revision:

0:2e7a61458dc3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Output/Motor/Motor.h	Mon Jan 28 08:34:36 2019 +0000
@@ -0,0 +1,66 @@
+#ifndef MOTOR_H_
+#define MOTOR_H_
+
+#include <stdint.h>
+
+namespace MOTOR 
+{
+    #define FREE  0
+    #define BACK  1
+    #define FOR   2
+    #define BRAKE 3
+    
+    #define MOUNTING_MOTOR_NUM 5
+    
+    #define MOTOR0_D1 directions[0]
+    #define MOTOR0_D2 directions[1]
+    #define MOTOR1_D1 directions[2]
+    #define MOTOR1_D2 directions[3]
+    #define MOTOR2_D1 directions[4]
+    #define MOTOR2_D2 directions[5]
+    #define MOTOR3_D1 directions[6]
+    #define MOTOR3_D2 directions[7]
+    #define MOTOR4_D1 directions[8]
+    #define MOTOR4_D2 directions[9]
+    
+    #define MOTOR0_D1_PIN D3
+    #define MOTOR0_D2_PIN D4
+    #define MOTOR1_D1_PIN D5
+    #define MOTOR1_D2_PIN D6
+    #define MOTOR2_D1_PIN D8
+    #define MOTOR2_D2_PIN D9
+    #define MOTOR3_D1_PIN D12
+    #define MOTOR3_D2_PIN A3
+    #define MOTOR4_D1_PIN A1
+    #define MOTOR4_D2_PIN A0
+    
+    #define MOTOR0_PWM_PIN D2
+    #define MOTOR1_PWM_PIN D7
+    #define MOTOR2_PWM_PIN D10
+    #define MOTOR3_PWM_PIN D11
+    #define MOTOR4_PWM_PIN A2
+    
+    typedef struct{
+        union{
+            struct{
+                unsigned int d2:1;
+                unsigned int d1:1;
+                unsigned int :6;
+            };
+            uint8_t dir;
+        };
+        float pwm;
+    }MotorStatus;
+        
+    class Motor
+    {
+        public:
+            static void Initialize(void);
+            static void Update(MotorStatus *status);
+            static void SetDefault(void);
+            static int SetStatus(float pwm);
+    };
+}
+
+#endif
+                
\ No newline at end of file