Yeongsoo Kim / Mbed 2 deprecated Mecha_Hall_Sensor

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Dependencies:   mbed

Actuator/Motor.cpp@1:d43df9a7cef2, 2020-10-31 (annotated)

Committer:
yeongsookim
Date:
Sat Oct 31 07:12:28 2020 +0000
Revision:
1:d43df9a7cef2
Parent:
0:3ead6014ad51 
2020 Hall Sensor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yeongsookim 0:3ead6014ad51 1 #include "Motor.h"
yeongsookim 0:3ead6014ad51 2
yeongsookim 0:3ead6014ad51 3
yeongsookim 0:3ead6014ad51 4 Motor::Motor(PinName IN1, PinName IN2, PinName INH1, PinName INH2)
yeongsookim 0:3ead6014ad51 5 : IN1_(IN1), IN2_(IN2), INH1_(INH1), INH2_(INH2)
yeongsookim 0:3ead6014ad51 6 {
yeongsookim 0:3ead6014ad51 7 INH1_=1;
yeongsookim 0:3ead6014ad51 8 INH2_=1;
yeongsookim 1:d43df9a7cef2 9 IN1_.period_us(100);
yeongsookim 1:d43df9a7cef2 10 IN2_.period_us(100);
yeongsookim 0:3ead6014ad51 11 }
yeongsookim 0:3ead6014ad51 12
yeongsookim 0:3ead6014ad51 13 void Motor::setSpeed_percent(float percent, char direction)
yeongsookim 0:3ead6014ad51 14 {
yeongsookim 0:3ead6014ad51 15 float duty = percent/100.0;
yeongsookim 0:3ead6014ad51 16 if(duty>1.0) {
yeongsookim 0:3ead6014ad51 17 duty=1.0;
yeongsookim 0:3ead6014ad51 18 } else if(duty<0.0) {
yeongsookim 0:3ead6014ad51 19 duty=0.0;
yeongsookim 0:3ead6014ad51 20 }
yeongsookim 0:3ead6014ad51 21
yeongsookim 0:3ead6014ad51 22 if(direction==FORWARD)
yeongsookim 0:3ead6014ad51 23 {
yeongsookim 0:3ead6014ad51 24 IN1_=0;
yeongsookim 0:3ead6014ad51 25 IN2_=duty;
yeongsookim 0:3ead6014ad51 26 }
yeongsookim 0:3ead6014ad51 27 else if (direction == BACKWARD){
yeongsookim 0:3ead6014ad51 28 IN1_=duty;
yeongsookim 0:3ead6014ad51 29 IN2_=0;
yeongsookim 0:3ead6014ad51 30 }
yeongsookim 1:d43df9a7cef2 31 else if (direction == BRAKE)
yeongsookim 0:3ead6014ad51 32 {
yeongsookim 0:3ead6014ad51 33 IN1_=1;
yeongsookim 0:3ead6014ad51 34 IN2_=1;
yeongsookim 0:3ead6014ad51 35 }
yeongsookim 0:3ead6014ad51 36 else
yeongsookim 0:3ead6014ad51 37 {
yeongsookim 0:3ead6014ad51 38 IN1_=0;
yeongsookim 0:3ead6014ad51 39 IN2_=0;
yeongsookim 0:3ead6014ad51 40 }
yeongsookim 0:3ead6014ad51 41 }