Suga koubou / Mbed 2 deprecated Motor_TB6612

see https://mbed.org/users/okini3939/notebook/motor/

Dependencies:   mbed

main.cpp@1:02b46ad7dcac, 2013-02-05 (annotated)

Committer:
okini3939
Date:
Tue Feb 05 04:11:53 2013 +0000
Revision:
1:02b46ad7dcac
Parent:
0:bdcbec496e71 
fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okini3939 0:bdcbec496e71 1 #include "mbed.h"
okini3939 0:bdcbec496e71 2
okini3939 0:bdcbec496e71 3 DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);
okini3939 0:bdcbec496e71 4
okini3939 0:bdcbec496e71 5 DigitalOut m1a(p29), m1b(p30), m2a(p27), m2b(p28);
okini3939 0:bdcbec496e71 6 PwmOut m1p(p26), m2p(p25);
okini3939 0:bdcbec496e71 7 PwmOut m3p(p23), m4p(p24);
okini3939 0:bdcbec496e71 8
okini3939 0:bdcbec496e71 9 void motor (int num, float speed, int brake) {
okini3939 0:bdcbec496e71 10 if (num == 1) {
okini3939 0:bdcbec496e71 11 if (brake) {
okini3939 0:bdcbec496e71 12 m1p = 1;
okini3939 1:02b46ad7dcac 13 m1a = 1;
okini3939 1:02b46ad7dcac 14 m1b = 1;
okini3939 0:bdcbec496e71 15 } else
okini3939 0:bdcbec496e71 16 if (speed > 0) {
okini3939 0:bdcbec496e71 17 m1p = speed;
okini3939 0:bdcbec496e71 18 m1a = 1;
okini3939 0:bdcbec496e71 19 m1b = 0;
okini3939 0:bdcbec496e71 20 } else
okini3939 0:bdcbec496e71 21 if (speed < 0) {
okini3939 0:bdcbec496e71 22 m1p = - speed;
okini3939 0:bdcbec496e71 23 m1a = 0;
okini3939 0:bdcbec496e71 24 m1b = 1;
okini3939 0:bdcbec496e71 25 } else {
okini3939 0:bdcbec496e71 26 m1p = 1;
okini3939 0:bdcbec496e71 27 m1a = 0;
okini3939 0:bdcbec496e71 28 m1b = 0;
okini3939 0:bdcbec496e71 29 }
okini3939 0:bdcbec496e71 30 } else
okini3939 0:bdcbec496e71 31 if (num == 2) {
okini3939 0:bdcbec496e71 32 if (brake) {
okini3939 0:bdcbec496e71 33 m2p = 1;
okini3939 1:02b46ad7dcac 34 m2a = 1;
okini3939 1:02b46ad7dcac 35 m2b = 1;
okini3939 0:bdcbec496e71 36 } else
okini3939 0:bdcbec496e71 37 if (speed > 0) {
okini3939 0:bdcbec496e71 38 m2p = speed;
okini3939 0:bdcbec496e71 39 m2a = 1;
okini3939 0:bdcbec496e71 40 m2b = 0;
okini3939 0:bdcbec496e71 41 } else
okini3939 0:bdcbec496e71 42 if (speed < 0) {
okini3939 0:bdcbec496e71 43 m2p = - speed;
okini3939 0:bdcbec496e71 44 m2a = 0;
okini3939 0:bdcbec496e71 45 m2b = 1;
okini3939 0:bdcbec496e71 46 } else {
okini3939 0:bdcbec496e71 47 m2p = 1;
okini3939 0:bdcbec496e71 48 m2a = 0;
okini3939 0:bdcbec496e71 49 m2b = 0;
okini3939 0:bdcbec496e71 50 }
okini3939 0:bdcbec496e71 51 }
okini3939 0:bdcbec496e71 52 }
okini3939 0:bdcbec496e71 53
okini3939 0:bdcbec496e71 54 void servo (int num, float deg) {
okini3939 0:bdcbec496e71 55 if (num == 3) {
okini3939 0:bdcbec496e71 56 m3p.period_ms(20);
okini3939 0:bdcbec496e71 57 m3p.pulsewidth_us(1500 + (int)(500.0 * deg));
okini3939 0:bdcbec496e71 58 } else
okini3939 0:bdcbec496e71 59 if (num == 4) {
okini3939 0:bdcbec496e71 60 m4p.period_ms(20);
okini3939 0:bdcbec496e71 61 m4p.pulsewidth_us(1500 + (int)(500.0 * deg));
okini3939 0:bdcbec496e71 62 }
okini3939 0:bdcbec496e71 63 }
okini3939 0:bdcbec496e71 64
okini3939 0:bdcbec496e71 65 int main() {
okini3939 0:bdcbec496e71 66 float f;
okini3939 0:bdcbec496e71 67
okini3939 0:bdcbec496e71 68 while(1) {
okini3939 0:bdcbec496e71 69 led1 = 1;
okini3939 0:bdcbec496e71 70 for (f = 0; f < 1; f += 0.02) {
okini3939 0:bdcbec496e71 71 motor(1, f, 0);
okini3939 0:bdcbec496e71 72 motor(2, f, 0);
okini3939 0:bdcbec496e71 73 servo(3, f);
okini3939 0:bdcbec496e71 74 servo(4, f);
okini3939 0:bdcbec496e71 75 wait(0.1);
okini3939 0:bdcbec496e71 76 }
okini3939 0:bdcbec496e71 77 led1 = 0;
okini3939 0:bdcbec496e71 78 led2 = 1;
okini3939 0:bdcbec496e71 79 for (f = 1; f > -1; f -= 0.02) {
okini3939 0:bdcbec496e71 80 motor(1, f, 0);
okini3939 0:bdcbec496e71 81 motor(2, f, 0);
okini3939 0:bdcbec496e71 82 servo(3, f);
okini3939 0:bdcbec496e71 83 servo(4, f);
okini3939 0:bdcbec496e71 84 wait(0.1);
okini3939 0:bdcbec496e71 85 }
okini3939 0:bdcbec496e71 86 led2 = 0;
okini3939 0:bdcbec496e71 87 led3 = 1;
okini3939 0:bdcbec496e71 88 for (f = -1; f < 0; f += 0.02) {
okini3939 0:bdcbec496e71 89 motor(1, f, 0);
okini3939 0:bdcbec496e71 90 motor(2, f, 0);
okini3939 0:bdcbec496e71 91 servo(3, f);
okini3939 0:bdcbec496e71 92 servo(4, f);
okini3939 0:bdcbec496e71 93 wait(0.1);
okini3939 0:bdcbec496e71 94 }
okini3939 0:bdcbec496e71 95 led3 = 0;
okini3939 0:bdcbec496e71 96 led4 = 1;
okini3939 0:bdcbec496e71 97 motor(1, 0, 1);
okini3939 0:bdcbec496e71 98 motor(2, 0, 1);
okini3939 0:bdcbec496e71 99 wait(1);
okini3939 0:bdcbec496e71 100 led4 = 0;
okini3939 0:bdcbec496e71 101 }
okini3939 0:bdcbec496e71 102 }