にいむら にいむら / Mbed 2 deprecated mainboardnrp2018

unkounko

Dependencies:   mbed Servo

Output/Motor/Motor.h@11:88f17bc0724f, 2019-02-25 (annotated)

Committer:
niimurasyou
Date:
Mon Feb 25 05:48:20 2019 +0000
Revision:
11:88f17bc0724f
Parent:
8:cb53beff4bb2 
hhhhhhhhh

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:562021ed1ba9 1 #ifndef MOTOR_H_
t_yamamoto 0:562021ed1ba9 2 #define MOTOR_H_
t_yamamoto 0:562021ed1ba9 3
t_yamamoto 0:562021ed1ba9 4 #include <stdint.h>
t_yamamoto 0:562021ed1ba9 5
t_yamamoto 8:cb53beff4bb2 6 //#define USE_MOTOR0_SENSOR
t_yamamoto 0:562021ed1ba9 7 namespace MOTOR
t_yamamoto 0:562021ed1ba9 8 {
t_yamamoto 0:562021ed1ba9 9 #define FREE 0
t_yamamoto 0:562021ed1ba9 10 #define BACK 1
t_yamamoto 0:562021ed1ba9 11 #define FOR 2
t_yamamoto 0:562021ed1ba9 12 #define BRAKE 3
t_yamamoto 0:562021ed1ba9 13
t_yamamoto 1:e73cf2469f83 14 #define MOUNTING_MOTOR_NUM 5
t_yamamoto 0:562021ed1ba9 15
t_yamamoto 0:562021ed1ba9 16 #define MOTOR0_D1 directions[0]
t_yamamoto 0:562021ed1ba9 17 #define MOTOR0_D2 directions[1]
t_yamamoto 0:562021ed1ba9 18 #define MOTOR1_D1 directions[2]
t_yamamoto 0:562021ed1ba9 19 #define MOTOR1_D2 directions[3]
t_yamamoto 0:562021ed1ba9 20 #define MOTOR2_D1 directions[4]
t_yamamoto 0:562021ed1ba9 21 #define MOTOR2_D2 directions[5]
t_yamamoto 0:562021ed1ba9 22 #define MOTOR3_D1 directions[6]
t_yamamoto 0:562021ed1ba9 23 #define MOTOR3_D2 directions[7]
t_yamamoto 0:562021ed1ba9 24 #define MOTOR4_D1 directions[8]
t_yamamoto 0:562021ed1ba9 25 #define MOTOR4_D2 directions[9]
t_yamamoto 0:562021ed1ba9 26
t_yamamoto 1:e73cf2469f83 27 #define MOTOR0_D1_PIN D3
t_yamamoto 3:a9ab1a251456 28 #define MOTOR0_D2_PIN D4
t_yamamoto 4:42ba5ccc4a2a 29 #define MOTOR1_D1_PIN D5
t_yamamoto 4:42ba5ccc4a2a 30 #define MOTOR1_D2_PIN D6
t_yamamoto 3:a9ab1a251456 31 #define MOTOR2_D1_PIN D8
t_yamamoto 3:a9ab1a251456 32 #define MOTOR2_D2_PIN D9
t_yamamoto 1:e73cf2469f83 33 #define MOTOR3_D1_PIN D12
t_yamamoto 3:a9ab1a251456 34 #define MOTOR3_D2_PIN A3
t_yamamoto 3:a9ab1a251456 35 #define MOTOR4_D1_PIN A1
t_yamamoto 3:a9ab1a251456 36 #define MOTOR4_D2_PIN A0
t_yamamoto 0:562021ed1ba9 37
t_yamamoto 3:a9ab1a251456 38 #define MOTOR0_PWM_PIN D2
t_yamamoto 4:42ba5ccc4a2a 39 #define MOTOR1_PWM_PIN D7
t_yamamoto 1:e73cf2469f83 40 #define MOTOR2_PWM_PIN D10
t_yamamoto 3:a9ab1a251456 41 #define MOTOR3_PWM_PIN D11
t_yamamoto 3:a9ab1a251456 42 #define MOTOR4_PWM_PIN A2
t_yamamoto 8:cb53beff4bb2 43
t_yamamoto 8:cb53beff4bb2 44 #ifdef USE_MOTOR0_SENSOR
t_yamamoto 8:cb53beff4bb2 45 #define MOTOR_START_NUM 1
t_yamamoto 8:cb53beff4bb2 46 #else
t_yamamoto 8:cb53beff4bb2 47 #define MOTOR_START_NUM 0
t_yamamoto 8:cb53beff4bb2 48 #endif
t_yamamoto 0:562021ed1ba9 49
t_yamamoto 0:562021ed1ba9 50 typedef struct
t_yamamoto 0:562021ed1ba9 51 {
t_yamamoto 0:562021ed1ba9 52 union
t_yamamoto 0:562021ed1ba9 53 {
t_yamamoto 0:562021ed1ba9 54 struct
t_yamamoto 0:562021ed1ba9 55 {
t_yamamoto 0:562021ed1ba9 56 unsigned int d2 : 1;
t_yamamoto 0:562021ed1ba9 57 unsigned int d1 : 1;
t_yamamoto 0:562021ed1ba9 58 unsigned int : 6;
t_yamamoto 0:562021ed1ba9 59 };
t_yamamoto 0:562021ed1ba9 60 uint8_t dir;
t_yamamoto 0:562021ed1ba9 61 };
t_yamamoto 0:562021ed1ba9 62 float pwm;
t_yamamoto 0:562021ed1ba9 63 }MotorStatus;
t_yamamoto 0:562021ed1ba9 64
t_yamamoto 0:562021ed1ba9 65 class Motor
t_yamamoto 0:562021ed1ba9 66 {
t_yamamoto 0:562021ed1ba9 67 public:
t_yamamoto 0:562021ed1ba9 68 static void Initialize(void);
t_yamamoto 0:562021ed1ba9 69 static void Update(MotorStatus *status);
t_yamamoto 0:562021ed1ba9 70 static void SetDefault(void);
t_yamamoto 0:562021ed1ba9 71 static int SetStatus(float pwm);
t_yamamoto 0:562021ed1ba9 72 };
t_yamamoto 0:562021ed1ba9 73 }
t_yamamoto 0:562021ed1ba9 74
t_yamamoto 0:562021ed1ba9 75 #endif