13Ko-Robo / Mbed 2 deprecated main2016

Create this program

Dependencies:   mbed HCSR04 HMC6352 PID TextLCD

motor.h@6:44c3bfbe2553, 2015-08-11 (annotated)

Committer:
KoiShin_Sakana
Date:
Tue Aug 11 13:11:05 2015 +0000
Revision:
6:44c3bfbe2553
Parent:
5:e07e380ddb93 
update dribbler.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KoiShin_Sakana 2:a8bbf677e774 1 /**
KoiShin_Sakana 2:a8bbf677e774 2 * @file : motor.h (1.0)
KoiShin_Sakana 2:a8bbf677e774 3 * @brief : control moter
KoiShin_Sakana 2:a8bbf677e774 4 * @author : Yohei SAITO(, Shinnosuke KOIKE)
KoiShin_Sakana 2:a8bbf677e774 5 * @date : 2015/08/04
KoiShin_Sakana 2:a8bbf677e774 6 */
KoiShin_Sakana 2:a8bbf677e774 7
KoiShin_Sakana 2:a8bbf677e774 8 #ifndef MOTOR_H
KoiShin_Sakana 2:a8bbf677e774 9 #define MOTOR_H
KoiShin_Sakana 2:a8bbf677e774 10
KoiShin_Sakana 2:a8bbf677e774 11 #include "mbed.h"
KoiShin_Sakana 2:a8bbf677e774 12
KoiShin_Sakana 2:a8bbf677e774 13 class Motor {
KoiShin_Sakana 2:a8bbf677e774 14 public:
KoiShin_Sakana 5:e07e380ddb93 15 Motor();
KoiShin_Sakana 2:a8bbf677e774 16 Motor(PinName normalDirect, PinName reverseDirect, PinName pwm);
KoiShin_Sakana 3:901d18b901b4 17 ~Motor();
KoiShin_Sakana 2:a8bbf677e774 18 int setLimit(float powerLimit = 1);
KoiShin_Sakana 2:a8bbf677e774 19 void setFlequency(float correctFlequency);
KoiShin_Sakana 2:a8bbf677e774 20 void run(float power); // input -1 ~ 1
KoiShin_Sakana 2:a8bbf677e774 21 void brake(void);
KoiShin_Sakana 2:a8bbf677e774 22
KoiShin_Sakana 6:44c3bfbe2553 23 private:
KoiShin_Sakana 2:a8bbf677e774 24 float limit;
KoiShin_Sakana 2:a8bbf677e774 25 PwmOut* powerLevel;
KoiShin_Sakana 2:a8bbf677e774 26 DigitalOut normal;
KoiShin_Sakana 2:a8bbf677e774 27 DigitalOut reverse;
KoiShin_Sakana 2:a8bbf677e774 28 void rotateNormal(void);
KoiShin_Sakana 2:a8bbf677e774 29 void rotateReverse(void);
KoiShin_Sakana 2:a8bbf677e774 30 };
KoiShin_Sakana 2:a8bbf677e774 31
KoiShin_Sakana 2:a8bbf677e774 32 // initialize
KoiShin_Sakana 2:a8bbf677e774 33 Motor::Motor(PinName normalDirect, PinName reverseDirect, PinName pwm):
KoiShin_Sakana 2:a8bbf677e774 34 normal(normalDirect), reverse(reverseDirect) {
KoiShin_Sakana 2:a8bbf677e774 35 powerLevel = new PwmOut(pwm);
KoiShin_Sakana 2:a8bbf677e774 36 }
KoiShin_Sakana 2:a8bbf677e774 37
KoiShin_Sakana 3:901d18b901b4 38 Motor::~Motor() {
KoiShin_Sakana 3:901d18b901b4 39 delete powerLevel;
KoiShin_Sakana 3:901d18b901b4 40 }
KoiShin_Sakana 3:901d18b901b4 41
KoiShin_Sakana 2:a8bbf677e774 42 // set flequency
KoiShin_Sakana 2:a8bbf677e774 43 void Motor::setFlequency(float correctFlequency) {
KoiShin_Sakana 2:a8bbf677e774 44 powerLevel->period(1 / correctFlequency);
KoiShin_Sakana 2:a8bbf677e774 45 }
KoiShin_Sakana 2:a8bbf677e774 46
KoiShin_Sakana 2:a8bbf677e774 47 // set power limit
KoiShin_Sakana 2:a8bbf677e774 48 int Motor::setLimit(float powerLimit) {
KoiShin_Sakana 2:a8bbf677e774 49 if (powerLimit > 1 || powerLimit < -1) return 1;
KoiShin_Sakana 2:a8bbf677e774 50
KoiShin_Sakana 2:a8bbf677e774 51 limit = powerLimit;
KoiShin_Sakana 2:a8bbf677e774 52 return 0;
KoiShin_Sakana 2:a8bbf677e774 53 }
KoiShin_Sakana 2:a8bbf677e774 54
KoiShin_Sakana 2:a8bbf677e774 55 // run moter
KoiShin_Sakana 2:a8bbf677e774 56 void Motor::run(float power) {
KoiShin_Sakana 2:a8bbf677e774 57 if (power > 1) power = 1;
KoiShin_Sakana 2:a8bbf677e774 58 if (power < -1) power = -1;
KoiShin_Sakana 2:a8bbf677e774 59 if (power < 0) {
KoiShin_Sakana 2:a8bbf677e774 60 powerLevel->write(-power * limit);
KoiShin_Sakana 2:a8bbf677e774 61 rotateReverse();
KoiShin_Sakana 2:a8bbf677e774 62 } else {
KoiShin_Sakana 2:a8bbf677e774 63 powerLevel->write(power * limit);
KoiShin_Sakana 2:a8bbf677e774 64 rotateNormal();
KoiShin_Sakana 2:a8bbf677e774 65 }
KoiShin_Sakana 2:a8bbf677e774 66 }
KoiShin_Sakana 2:a8bbf677e774 67
KoiShin_Sakana 2:a8bbf677e774 68 // rotate in the clockwise
KoiShin_Sakana 2:a8bbf677e774 69 void Motor::rotateNormal(void) {
KoiShin_Sakana 2:a8bbf677e774 70 normal = 1;
KoiShin_Sakana 2:a8bbf677e774 71 reverse = 0;
KoiShin_Sakana 2:a8bbf677e774 72 }
KoiShin_Sakana 2:a8bbf677e774 73
KoiShin_Sakana 2:a8bbf677e774 74 // rotate in the anticlockwise
KoiShin_Sakana 2:a8bbf677e774 75 void Motor::rotateReverse(void) {
KoiShin_Sakana 2:a8bbf677e774 76 normal = 0;
KoiShin_Sakana 2:a8bbf677e774 77 reverse = 1;
KoiShin_Sakana 2:a8bbf677e774 78 }
KoiShin_Sakana 2:a8bbf677e774 79
KoiShin_Sakana 2:a8bbf677e774 80 // brake
KoiShin_Sakana 2:a8bbf677e774 81 void Motor::brake(void) {
KoiShin_Sakana 2:a8bbf677e774 82 normal = 1;
KoiShin_Sakana 2:a8bbf677e774 83 reverse = 1;
KoiShin_Sakana 2:a8bbf677e774 84 powerLevel->write(limit);
KoiShin_Sakana 2:a8bbf677e774 85 }
KoiShin_Sakana 2:a8bbf677e774 86
KoiShin_Sakana 2:a8bbf677e774 87 #endif
KoiShin_Sakana 2:a8bbf677e774 88
KoiShin_Sakana 2:a8bbf677e774 89 /*
KoiShin_Sakana 2:a8bbf677e774 90 * example program
KoiShin_Sakana 2:a8bbf677e774 91
KoiShin_Sakana 2:a8bbf677e774 92 #include "mbed.h"
KoiShin_Sakana 2:a8bbf677e774 93 #include "motor.h"
KoiShin_Sakana 2:a8bbf677e774 94
KoiShin_Sakana 2:a8bbf677e774 95 int main(void) {
KoiShin_Sakana 2:a8bbf677e774 96 Motor motor(D4, D7, D9);
KoiShin_Sakana 2:a8bbf677e774 97 motor.setLimit(0.8);
KoiShin_Sakana 2:a8bbf677e774 98 while (1) {
KoiShin_Sakana 2:a8bbf677e774 99 motor.run(-0.2); // Then D4->Low D7->High D9(duty) = 0.2 * 0.8 = 0.16
KoiShin_Sakana 2:a8bbf677e774 100 motor.run(2); // Then D4->High D7->Low D9(duty) = 1.0 * 0.8 = 0.8
KoiShin_Sakana 2:a8bbf677e774 101 }
KoiShin_Sakana 2:a8bbf677e774 102 }
KoiShin_Sakana 2:a8bbf677e774 103 */
KoiShin_Sakana 2:a8bbf677e774 104