ヒロキ モリ
motordrive
Dependents: MotorIdentification MotorPIcontrol Motor_P_PositionControl
Diff: motordriver.cpp
- Revision:
- 0:876ba416c547
diff -r 000000000000 -r 876ba416c547 motordriver.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motordriver.cpp Mon Mar 18 04:46:47 2019 +0000
@@ -0,0 +1,28 @@
+#include "motordriver.h"
+
+Motor::Motor(PinName pwm , PinName fwd , PinName rev , float frequency):
+ pwm_(pwm) , fwd_(fwd) , rev_(rev) , frequency_(frequency) {
+
+ pwm_.period(1/frequency_); // PWM周期の設定
+ pwm_ = 0.0;
+
+ fwd_ = 0;
+ rev_ = 0;
+
+}
+
+void Motor::rotate(float speed) {
+ /* speedを-1.0~1.0の範囲に設定 */
+ if(speed > 1.0) speed = 1.0;
+ if(speed <-1.0) speed = -1.0;
+
+ fwd_ = (speed > 0.0);
+ rev_ = (speed < 0.0);
+ pwm_ = fabs(speed);
+}
+
+void Motor::brake(void) {
+ fwd_ = 1;
+ rev_ = 1;
+ pwm_ = 1.0;
+}