スネーク
Motor.h@0:772b2085fe23, 2018-10-18 (annotated)
- Committer:
- tajiri1999
- Date:
- Thu Oct 18 09:57:12 2018 +0000
- Revision:
- 0:772b2085fe23
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Who changed what in which revision?
User | Revision | Line number | New 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 | }; |