Tatsuya Yamamoto / Mbed 2 deprecated UV_Robot_Nucleo

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Dependencies:   mbed X_NUCLEO_PLC01A1 ros_lib_melodic

ms-94bzb.h@1:ef4b86795d79, 2020-08-15 (annotated)

Committer:
yamadola
Date:
Sat Aug 15 09:09:33 2020 +0000
Revision:
1:ef4b86795d79
Parent:
0:43eb9ccc1583
Child:
3:ea5cfd721b53
whole program without debugs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yamadola 0:43eb9ccc1583 1 #ifndef MS94BZB_H
yamadola 0:43eb9ccc1583 2 #define MS94BZB_H
yamadola 0:43eb9ccc1583 3
yamadola 0:43eb9ccc1583 4 #include "motor.h"
yamadola 0:43eb9ccc1583 5 #include "can_controller.h"
yamadola 0:43eb9ccc1583 6
yamadola 0:43eb9ccc1583 7 class MS_94BZB: public Motor{
yamadola 0:43eb9ccc1583 8 private:
yamadola 0:43eb9ccc1583 9 /* CAN control commands */
yamadola 0:43eb9ccc1583 10 static const uint16_t MOTOR_COMMAND = (0x03<<7);
yamadola 0:43eb9ccc1583 11 static const uint8_t DRIVE = 1<<0;
yamadola 0:43eb9ccc1583 12 static const uint8_t STOP = 0<<0;
yamadola 0:43eb9ccc1583 13 static const uint8_t CCW = 0<<1;
yamadola 0:43eb9ccc1583 14 static const uint8_t CW = 0<<1;
yamadola 0:43eb9ccc1583 15 static const uint8_t SHORT = 0<<7;
yamadola 0:43eb9ccc1583 16 static const uint8_t FREE = 1<<7;
yamadola 0:43eb9ccc1583 17
yamadola 0:43eb9ccc1583 18 static const uint16_t CTL_COMMAND = (0x09<<7);
yamadola 0:43eb9ccc1583 19 static const uint8_t PWM_CTL = 0;
yamadola 0:43eb9ccc1583 20 static const uint8_t CAN_CTL = 1;
yamadola 0:43eb9ccc1583 21
yamadola 0:43eb9ccc1583 22 /* Pointer of CAN controller */
yamadola 0:43eb9ccc1583 23 CANController *_pCanController;
yamadola 0:43eb9ccc1583 24
yamadola 0:43eb9ccc1583 25 /* Gear ratio of the MS-94BZB gear head */
yamadola 0:43eb9ccc1583 26 const float _gearRatio;
yamadola 0:43eb9ccc1583 27
yamadola 0:43eb9ccc1583 28 /* Turning speed of brush-less motor (60-3000[rmp]) */
yamadola 0:43eb9ccc1583 29 uint16_t _refMotorAngularVelocity;
yamadola 0:43eb9ccc1583 30
yamadola 0:43eb9ccc1583 31 /* Turning direction (CW:0x02 CCW:0x00) */
yamadola 0:43eb9ccc1583 32 uint8_t DIR;
yamadola 0:43eb9ccc1583 33
yamadola 0:43eb9ccc1583 34 /* Turning acceleration of brush-less motor (100-11,164[rpm/s])*/
yamadola 0:43eb9ccc1583 35 uint16_t _accel;
yamadola 0:43eb9ccc1583 36
yamadola 0:43eb9ccc1583 37 public:
yamadola 0:43eb9ccc1583 38 MS_94BZB( uint8_t motorID, CANController *pCanController);
yamadola 0:43eb9ccc1583 39 virtual void motorInit();
yamadola 0:43eb9ccc1583 40 virtual void drive();
yamadola 0:43eb9ccc1583 41 virtual void stop();
yamadola 1:ef4b86795d79 42 virtual void free();
yamadola 0:43eb9ccc1583 43 void setAngularVelocity(float avel);
yamadola 0:43eb9ccc1583 44 void setAcceleration(uint16_t accel);
yamadola 0:43eb9ccc1583 45 };
yamadola 0:43eb9ccc1583 46
yamadola 0:43eb9ccc1583 47 #endif