suu pen
このライブラリは模型用のＤＣモータをmbedで直接制御します。 モータは正転、反転動作が可能です。 モータの回転速度は可変できます。 This library is directly controlled by a DC motor for model mbed. Motor forward rotation, inversion operation is possible. The motor speed is adjustable.
Dependents: adxl335_motor_direction
Diff: DcMotorDirectDrive.cpp
- Revision:
- 0:ade473623320
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DcMotorDirectDrive.cpp Mon Dec 05 12:09:54 2011 +0000
@@ -0,0 +1,54 @@
+/**********************************************************
+
+* DcMotorDirectDrive.cpp
+* Dc motor direct drive library
+*
+**********************************************************/
+#define _DCMOTORDIRECTDRIVE_C
+
+#include "types.h"
+#include "mbed.h"
+#include "DcMotorDirectDrive.h"
+
+
+
+
+/** DC motor direct drive object connected to the specified DigtalOutput pin
+ */
+DcMotorDirectDrive::DcMotorDirectDrive(PinName pwmPin, PinName referencePin) :
+ _pwmPin(pwmPin), _referencePin(referencePin){
+
+ // pwm setting
+ _referencePin = 0;
+ _pwmPin.period_us(Z_pwmPeriod); // pwm period 0.1[ms](10[kHz])
+ _pwmPin.write(0.0);
+
+}
+
+
+
+
+/**************************************
+* main
+**************************************/
+void DcMotorDirectDrive::DcMotorDirectDrive_main(float request) {
+ if(request > Z_stopRange){
+ // normal rotation
+ _referencePin = 0;
+ _pwmPin.write(request);
+ }
+ else if(request < -Z_stopRange){
+ // reversal rotation
+ _referencePin = 1;
+ _pwmPin.write(1.0f + request);
+
+ }
+ else{
+ // stop
+ _referencePin = 0;
+ _pwmPin.write(0.0);
+ }
+
+}
+
+