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Motor.h@0:772b2085fe23, 2018-10-18 (annotated)

Committer:
tajiri1999
Date:
Thu Oct 18 09:57:12 2018 +0000
Revision:
0:772b2085fe23
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tajiri1999 0:772b2085fe23 1 #include "mbed.h"
tajiri1999 0:772b2085fe23 2
tajiri1999 0:772b2085fe23 3 class Motor
tajiri1999 0:772b2085fe23 4 {
tajiri1999 0:772b2085fe23 5 public:
tajiri1999 0:772b2085fe23 6
tajiri1999 0:772b2085fe23 7 Motor::Motor(PinName p01,PinName p10,PinName p02,PinName p20,PinName p03,PinName p30,PinName p04,PinName p40);
tajiri1999 0:772b2085fe23 8
tajiri1999 0:772b2085fe23 9 /*******************************************/
tajiri1999 0:772b2085fe23 10 /*初期設定(1周期を引数に取る)*/
tajiri1999 0:772b2085fe23 11 /******************************************/
tajiri1999 0:772b2085fe23 12 void setPwmPeriod(float hz);
tajiri1999 0:772b2085fe23 13
tajiri1999 0:772b2085fe23 14 /****************************************************/
tajiri1999 0:772b2085fe23 15 /*モーターを動かす*/
tajiri1999 0:772b2085fe23 16 /****************************************************/
tajiri1999 0:772b2085fe23 17 void setPower(float a,float b, float c, float d);
tajiri1999 0:772b2085fe23 18
tajiri1999 0:772b2085fe23 19 //*********************************************************************************/////////
tajiri1999 0:772b2085fe23 20 ///////モーター制御θ(degree)に進行方向,powerにPWMの値(0～100),修正値をmodに代入,右回転基準//////////
tajiri1999 0:772b2085fe23 21 //********************************************************************************://///////
tajiri1999 0:772b2085fe23 22 void omni4Wheels(int degree,int power,int mod);
tajiri1999 0:772b2085fe23 23 void omni3Wheels(int degree,int power,int mod);
tajiri1999 0:772b2085fe23 24
tajiri1999 0:772b2085fe23 25 private:
tajiri1999 0:772b2085fe23 26 PwmOut _p01;
tajiri1999 0:772b2085fe23 27 PwmOut _p10;
tajiri1999 0:772b2085fe23 28 PwmOut _p02;
tajiri1999 0:772b2085fe23 29 PwmOut _p20;
tajiri1999 0:772b2085fe23 30 PwmOut _p03;
tajiri1999 0:772b2085fe23 31 PwmOut _p30;
tajiri1999 0:772b2085fe23 32 PwmOut _p04;
tajiri1999 0:772b2085fe23 33 PwmOut _p40;
tajiri1999 0:772b2085fe23 34 const float Pi = 3.14159265;
tajiri1999 0:772b2085fe23 35 };