にいむら にいむら / Mbed 2 deprecated mainboardnrp2018

unkounko

Dependencies:   mbed Servo

Output/Motor/Motor.h@0:562021ed1ba9, 2018-01-13 (annotated)

Committer:
t_yamamoto
Date:
Sat Jan 13 13:33:09 2018 +0000
Revision:
0:562021ed1ba9
Child:
1:e73cf2469f83
NaganoNCT-MainBoardNRP2018

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 0:562021ed1ba9 6 namespace MOTOR
t_yamamoto 0:562021ed1ba9 7 {
t_yamamoto 0:562021ed1ba9 8 #define FREE 0
t_yamamoto 0:562021ed1ba9 9 #define BACK 1
t_yamamoto 0:562021ed1ba9 10 #define FOR 2
t_yamamoto 0:562021ed1ba9 11 #define BRAKE 3
t_yamamoto 0:562021ed1ba9 12
t_yamamoto 0:562021ed1ba9 13 #define MOUNTING_MOTOR_NUM (5 + 1) //MOTOR0の関係で+1
t_yamamoto 0:562021ed1ba9 14
t_yamamoto 0:562021ed1ba9 15 #define MOTOR0_D1 directions[0]
t_yamamoto 0:562021ed1ba9 16 #define MOTOR0_D2 directions[1]
t_yamamoto 0:562021ed1ba9 17 #define MOTOR1_D1 directions[2]
t_yamamoto 0:562021ed1ba9 18 #define MOTOR1_D2 directions[3]
t_yamamoto 0:562021ed1ba9 19 #define MOTOR2_D1 directions[4]
t_yamamoto 0:562021ed1ba9 20 #define MOTOR2_D2 directions[5]
t_yamamoto 0:562021ed1ba9 21 #define MOTOR3_D1 directions[6]
t_yamamoto 0:562021ed1ba9 22 #define MOTOR3_D2 directions[7]
t_yamamoto 0:562021ed1ba9 23 #define MOTOR4_D1 directions[8]
t_yamamoto 0:562021ed1ba9 24 #define MOTOR4_D2 directions[9]
t_yamamoto 0:562021ed1ba9 25 #define MOTOR5_D1 directions[10]
t_yamamoto 0:562021ed1ba9 26 #define MOTOR6_D2 directions[11]
t_yamamoto 0:562021ed1ba9 27
t_yamamoto 0:562021ed1ba9 28 #define MOTOR0_D1_PIN NC
t_yamamoto 0:562021ed1ba9 29 #define MOTOR0_D2_PIN NC
t_yamamoto 0:562021ed1ba9 30 #define MOTOR1_D1_PIN D3
t_yamamoto 0:562021ed1ba9 31 #define MOTOR1_D2_PIN D2
t_yamamoto 0:562021ed1ba9 32 #define MOTOR2_D1_PIN D6
t_yamamoto 0:562021ed1ba9 33 #define MOTOR2_D2_PIN D5
t_yamamoto 0:562021ed1ba9 34 #define MOTOR3_D1_PIN D9
t_yamamoto 0:562021ed1ba9 35 #define MOTOR3_D2_PIN D8
t_yamamoto 0:562021ed1ba9 36 #define MOTOR4_D1_PIN D12
t_yamamoto 0:562021ed1ba9 37 #define MOTOR4_D2_PIN D11
t_yamamoto 0:562021ed1ba9 38 #define MOTOR5_D1_PIN A0
t_yamamoto 0:562021ed1ba9 39 #define MOTOR5_D2_PIN A1
t_yamamoto 0:562021ed1ba9 40
t_yamamoto 0:562021ed1ba9 41 #define MOTOR0_PWM_PIN NC
t_yamamoto 0:562021ed1ba9 42 #define MOTOR1_PWM_PIN D4
t_yamamoto 0:562021ed1ba9 43 #define MOTOR2_PWM_PIN D7
t_yamamoto 0:562021ed1ba9 44 #define MOTOR3_PWM_PIN D10
t_yamamoto 0:562021ed1ba9 45 #define MOTOR4_PWM_PIN A2
t_yamamoto 0:562021ed1ba9 46 #define MOTOR5_PWM_PIN A3
t_yamamoto 0:562021ed1ba9 47
t_yamamoto 0:562021ed1ba9 48 typedef struct
t_yamamoto 0:562021ed1ba9 49 {
t_yamamoto 0:562021ed1ba9 50 union
t_yamamoto 0:562021ed1ba9 51 {
t_yamamoto 0:562021ed1ba9 52 struct
t_yamamoto 0:562021ed1ba9 53 {
t_yamamoto 0:562021ed1ba9 54 unsigned int d2 : 1;
t_yamamoto 0:562021ed1ba9 55 unsigned int d1 : 1;
t_yamamoto 0:562021ed1ba9 56 unsigned int : 6;
t_yamamoto 0:562021ed1ba9 57 };
t_yamamoto 0:562021ed1ba9 58 uint8_t dir;
t_yamamoto 0:562021ed1ba9 59 };
t_yamamoto 0:562021ed1ba9 60 float pwm;
t_yamamoto 0:562021ed1ba9 61 }MotorStatus;
t_yamamoto 0:562021ed1ba9 62
t_yamamoto 0:562021ed1ba9 63 class Motor
t_yamamoto 0:562021ed1ba9 64 {
t_yamamoto 0:562021ed1ba9 65 public:
t_yamamoto 0:562021ed1ba9 66 static void Initialize(void);
t_yamamoto 0:562021ed1ba9 67 static void Update(MotorStatus *status);
t_yamamoto 0:562021ed1ba9 68 static void SetDefault(void);
t_yamamoto 0:562021ed1ba9 69 static int SetStatus(float pwm);
t_yamamoto 0:562021ed1ba9 70 };
t_yamamoto 0:562021ed1ba9 71 }
t_yamamoto 0:562021ed1ba9 72
t_yamamoto 0:562021ed1ba9 73 #endif
t_yamamoto 0:562021ed1ba9 74