p kj / Mbed 2 deprecated MKS22-CubeFine

LPC824

Dependencies:   mbed

Fork of CubeFine by wu le

Microduino_Motor.h@0:362c1482232c, 2016-06-02 (annotated)

Committer:
lixianyu
Date:
Thu Jun 02 04:03:31 2016 +0000
Revision:
0:362c1482232c
Child:
2:7964622fb5a5
work fine.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:362c1482232c 1 #ifndef Motor_h
lixianyu 0:362c1482232c 2 #define Motor_h
lixianyu 0:362c1482232c 3
lixianyu 0:362c1482232c 4 //#include "Arduino.h"
lixianyu 0:362c1482232c 5 #include "mbed.h"
lixianyu 0:362c1482232c 6
lixianyu 0:362c1482232c 7 #define CHAN_LEFT 0
lixianyu 0:362c1482232c 8 #define CHAN_RIGHT 1
lixianyu 0:362c1482232c 9
lixianyu 0:362c1482232c 10 #if 0
lixianyu 0:362c1482232c 11 typedef struct {
lixianyu 0:362c1482232c 12 uint8_t nbr_A :6 ;
lixianyu 0:362c1482232c 13 uint8_t nbr_B :6 ;
lixianyu 0:362c1482232c 14 } MotorPin_t;
lixianyu 0:362c1482232c 15 #else
lixianyu 0:362c1482232c 16 typedef struct {
lixianyu 0:362c1482232c 17 PinName nbr_A;
lixianyu 0:362c1482232c 18 PinName nbr_B;
lixianyu 0:362c1482232c 19 } MotorPin_t;
lixianyu 0:362c1482232c 20
lixianyu 0:362c1482232c 21 #endif
lixianyu 0:362c1482232c 22
lixianyu 0:362c1482232c 23 typedef struct {
lixianyu 0:362c1482232c 24 MotorPin_t Pin;
lixianyu 0:362c1482232c 25 } motor_t;
lixianyu 0:362c1482232c 26
lixianyu 0:362c1482232c 27 class Motor
lixianyu 0:362c1482232c 28 {
lixianyu 0:362c1482232c 29 public:
lixianyu 0:362c1482232c 30 Motor(PinName _motor_pinA, PinName _motor_pinB);
lixianyu 0:362c1482232c 31 void Fix(float _fix);
lixianyu 0:362c1482232c 32 void Driver(int16_t _motor_driver);
lixianyu 0:362c1482232c 33 void Free();
lixianyu 0:362c1482232c 34 void Brake();
lixianyu 0:362c1482232c 35 int16_t GetData(int16_t _throttle, int16_t _steering, uint8_t _dir);
lixianyu 0:362c1482232c 36 private:
lixianyu 0:362c1482232c 37 uint8_t motorIndex; // index into the channel data for this key
lixianyu 0:362c1482232c 38 float fix;
lixianyu 0:362c1482232c 39 int16_t _motor_vol;
lixianyu 0:362c1482232c 40 protected:
lixianyu 0:362c1482232c 41 pwmout_t _pwmA;
lixianyu 0:362c1482232c 42 pwmout_t _pwmB;
lixianyu 0:362c1482232c 43 int _period_us;
lixianyu 0:362c1482232c 44 };
lixianyu 0:362c1482232c 45
lixianyu 0:362c1482232c 46 #endif