motordrive
Dependents: MotorIdentification MotorPIcontrol Motor_P_PositionControl
Revision 0:876ba416c547, committed 2019-03-18
- Comitter:
- porizou3
- Date:
- Mon Mar 18 04:46:47 2019 +0000
- Commit message:
- commit;
Changed in this revision
motordriver.cpp | Show annotated file Show diff for this revision Revisions of this file |
motordriver.h | Show annotated file Show diff for this revision Revisions of this file |
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; +}
diff -r 000000000000 -r 876ba416c547 motordriver.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.h Mon Mar 18 04:46:47 2019 +0000 @@ -0,0 +1,113 @@ +#ifndef __motordriver_h +#define __motordriver_h + +/** + * Includes + */ +#include "mbed.h" + +class Motor { + +public: + /* + * pwm --- PwmOut pin + * fwd --- DigitalOut pin モーター正転 + * rev --- DigitalOut pin モーター逆転 + */ + Motor(PinName pwm , PinName fwd , PinName rev , float frequency); + + /* --- モーター回転 --- */ + void rotate(float speed); + + /* --- モーターHブレーキ ---*/ + void brake(void); + +private: + + PwmOut pwm_; + DigitalOut fwd_; + DigitalOut rev_; + float frequency_; //PWM周波数 + +}; + + +#endif /* __motordriver_h */ + + + + + + + + + + + + + + + + + + + + + + #ifndef __motordriver_h +#define __motordriver_h + +/** + * Includes + */ +#include "mbed.h" + +class Motor { + +public: + /* + * pwm --- PwmOut pin + * fwd --- DigitalOut pin モーター正転 + * rev --- DigitalOut pin モーター逆転 + */ + Motor(PinName pwm , PinName fwd , PinName rev , float frequency); + + /* --- モーター回転 --- */ + void rotate(float speed); + + /* --- モーターHブレーキ ---*/ + void brake(void); + +private: + + PwmOut pwm_; + DigitalOut fwd_; + DigitalOut rev_; + float frequency_; //PWM周波数 + +}; + + +#endif /* __motordriver_h */ + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file