Li Weiyi / Mbed 2 deprecated Cube

Microduino的cube小车。

Dependencies:   mbed-rtos mbed

Microduino_Motor.cpp@4:0670023d3f36, 2016-05-28 (annotated)

Committer:
lixianyu
Date:
Sat May 28 05:09:18 2016 +0000
Revision:
4:0670023d3f36
Parent:
3:e4ac7c1a14de 
??work????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 1:758ccab13947 1 #include "Microduino_Motor.h"
lixianyu 1:758ccab13947 2
lixianyu 1:758ccab13947 3 static motor_t motors[10]; // static array of key structures
lixianyu 1:758ccab13947 4
lixianyu 1:758ccab13947 5 uint8_t MotorCount = 0; // the total number of attached keys
lixianyu 1:758ccab13947 6
lixianyu 2:70ca3e685cca 7 Motor::Motor(PinName _motor_pinA, PinName _motor_pinB)
lixianyu 1:758ccab13947 8 {
lixianyu 1:758ccab13947 9 if ( MotorCount < 10) {
lixianyu 1:758ccab13947 10 this->motorIndex = MotorCount++; // assign a key index to this instance
lixianyu 2:70ca3e685cca 11 //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
lixianyu 2:70ca3e685cca 12 if (true) {
lixianyu 3:e4ac7c1a14de 13 #if 0
lixianyu 3:e4ac7c1a14de 14 pinMode( _motor_pinA, OUTPUT) ;
lixianyu 3:e4ac7c1a14de 15 #else
lixianyu 4:0670023d3f36 16 _period_us = 255; // 500Hz
lixianyu 3:e4ac7c1a14de 17 pwmout_init(&_pwmA, _motor_pinA);
lixianyu 3:e4ac7c1a14de 18 pwmout_period_us(&_pwmA, _period_us); // 500Hz
lixianyu 4:0670023d3f36 19 pwmout_pulsewidth_us(&_pwmA, 1);
lixianyu 3:e4ac7c1a14de 20 #endif
lixianyu 1:758ccab13947 21 motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
lixianyu 1:758ccab13947 22
lixianyu 3:e4ac7c1a14de 23 #if 0
lixianyu 3:e4ac7c1a14de 24 pinMode( _motor_pinB, OUTPUT) ;
lixianyu 3:e4ac7c1a14de 25 #else
lixianyu 3:e4ac7c1a14de 26 pwmout_init(&_pwmB, _motor_pinB);
lixianyu 3:e4ac7c1a14de 27 pwmout_period_us(&_pwmB, _period_us); // 500Hz
lixianyu 4:0670023d3f36 28 pwmout_pulsewidth_us(&_pwmB, 1);
lixianyu 3:e4ac7c1a14de 29 #endif
lixianyu 1:758ccab13947 30 motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
lixianyu 1:758ccab13947 31
lixianyu 1:758ccab13947 32 this->fix=1;
lixianyu 1:758ccab13947 33 }
lixianyu 3:e4ac7c1a14de 34 } else {
lixianyu 1:758ccab13947 35 this->motorIndex = 255 ; // too many keys
lixianyu 3:e4ac7c1a14de 36 }
lixianyu 1:758ccab13947 37 }
lixianyu 1:758ccab13947 38
lixianyu 1:758ccab13947 39 void Motor::Fix(float _fix)
lixianyu 1:758ccab13947 40 {
lixianyu 1:758ccab13947 41 this->fix=_fix;
lixianyu 1:758ccab13947 42 }
lixianyu 1:758ccab13947 43
lixianyu 4:0670023d3f36 44 int16_t Motor::GetData(int16_t _throttle, int16_t _steering, uint8_t _dir)
lixianyu 1:758ccab13947 45 {
lixianyu 1:758ccab13947 46 this->_motor_vol = _throttle;
lixianyu 1:758ccab13947 47
lixianyu 4:0670023d3f36 48 if(_dir == 1)
lixianyu 4:0670023d3f36 49 {
lixianyu 1:758ccab13947 50 this->_motor_vol -= _steering / 2;
lixianyu 4:0670023d3f36 51 }
lixianyu 1:758ccab13947 52 else
lixianyu 4:0670023d3f36 53 {
lixianyu 1:758ccab13947 54 this->_motor_vol += _steering / 2;
lixianyu 4:0670023d3f36 55 }
lixianyu 1:758ccab13947 56 if (this->_motor_vol > 255)
lixianyu 1:758ccab13947 57 this->_motor_vol = 255;
lixianyu 1:758ccab13947 58 else if (this->_motor_vol < -255)
lixianyu 1:758ccab13947 59 this->_motor_vol = -255;
lixianyu 1:758ccab13947 60
lixianyu 4:0670023d3f36 61 //this->_motor_vol *= fix;
lixianyu 1:758ccab13947 62
lixianyu 1:758ccab13947 63 return this->_motor_vol;
lixianyu 1:758ccab13947 64 }
lixianyu 1:758ccab13947 65
lixianyu 3:e4ac7c1a14de 66 #if 0
lixianyu 1:758ccab13947 67 void Motor::Driver(int16_t _motor_driver)
lixianyu 1:758ccab13947 68 {
lixianyu 1:758ccab13947 69 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 70 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 1:758ccab13947 71 if (_motor_driver == 0) {
lixianyu 1:758ccab13947 72 digitalWrite(channel_A, LOW);
lixianyu 1:758ccab13947 73 digitalWrite(channel_B, LOW);
lixianyu 1:758ccab13947 74 } else if (_motor_driver > 0) {
lixianyu 1:758ccab13947 75 analogWrite(channel_A, _motor_driver);
lixianyu 1:758ccab13947 76 digitalWrite(channel_B, LOW);
lixianyu 1:758ccab13947 77 } else {
lixianyu 1:758ccab13947 78 analogWrite(channel_A, 255 + _motor_driver);
lixianyu 1:758ccab13947 79 digitalWrite(channel_B, HIGH);
lixianyu 1:758ccab13947 80 }
lixianyu 1:758ccab13947 81 }
lixianyu 3:e4ac7c1a14de 82 #else
lixianyu 3:e4ac7c1a14de 83 void Motor::Driver(int16_t _motor_driver)
lixianyu 3:e4ac7c1a14de 84 {
lixianyu 4:0670023d3f36 85 //static bool flag = true;
lixianyu 4:0670023d3f36 86 uint32_t pulseWidth = 0;
lixianyu 4:0670023d3f36 87 //PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 4:0670023d3f36 88 //PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 4:0670023d3f36 89 #if 0
lixianyu 4:0670023d3f36 90 pwmout_pulsewidth_us(&_pwmA, _period_us/2);
lixianyu 4:0670023d3f36 91 pwmout_pulsewidth_us(&_pwmB, 0);
lixianyu 4:0670023d3f36 92 return;
lixianyu 4:0670023d3f36 93 #endif
lixianyu 4:0670023d3f36 94 #if 0
lixianyu 4:0670023d3f36 95 pwmout_pulsewidth_us(&_pwmA, 0);
lixianyu 4:0670023d3f36 96 pwmout_pulsewidth_us(&_pwmB, _period_us/2);
lixianyu 4:0670023d3f36 97 return;
lixianyu 4:0670023d3f36 98 #endif
lixianyu 3:e4ac7c1a14de 99 if (_motor_driver == 0) {
lixianyu 3:e4ac7c1a14de 100 pwmout_pulsewidth_us(&_pwmA, 0);
lixianyu 3:e4ac7c1a14de 101 pwmout_pulsewidth_us(&_pwmB, 0);
lixianyu 3:e4ac7c1a14de 102 } else if (_motor_driver > 0) {
lixianyu 4:0670023d3f36 103 #if 1
lixianyu 4:0670023d3f36 104 pulseWidth = _period_us / 255 * _motor_driver;
lixianyu 3:e4ac7c1a14de 105 pwmout_pulsewidth_us(&_pwmA, pulseWidth);
lixianyu 4:0670023d3f36 106 pwmout_pulsewidth_us(&_pwmB, 2);
lixianyu 4:0670023d3f36 107 #else
lixianyu 4:0670023d3f36 108 pwmout_pulsewidth_us(&_pwmA, _period_us/2);
lixianyu 3:e4ac7c1a14de 109 pwmout_pulsewidth_us(&_pwmB, 0);
lixianyu 4:0670023d3f36 110 #endif
lixianyu 3:e4ac7c1a14de 111 } else {
lixianyu 4:0670023d3f36 112 #if 0
lixianyu 3:e4ac7c1a14de 113 _motor_driver = 255 + _motor_driver;
lixianyu 4:0670023d3f36 114 pulseWidth = _period_us / 255 * _motor_driver;
lixianyu 4:0670023d3f36 115 pwmout_pulsewidth_us(&_pwmA, 0);
lixianyu 4:0670023d3f36 116 pwmout_pulsewidth_us(&_pwmB, pulseWidth);
lixianyu 4:0670023d3f36 117 #elif 1
lixianyu 4:0670023d3f36 118 _motor_driver = abs(_motor_driver);
lixianyu 4:0670023d3f36 119 pulseWidth = _period_us / 255 * _motor_driver;
lixianyu 4:0670023d3f36 120 pwmout_pulsewidth_us(&_pwmA, 2);
lixianyu 4:0670023d3f36 121 pwmout_pulsewidth_us(&_pwmB, pulseWidth);
lixianyu 4:0670023d3f36 122 #elif 0
lixianyu 4:0670023d3f36 123 _motor_driver = 255 + _motor_driver;
lixianyu 4:0670023d3f36 124 pulseWidth = _period_us / 255 * _motor_driver;
lixianyu 4:0670023d3f36 125 pwmout_pulsewidth_us(&_pwmA, _period_us);
lixianyu 4:0670023d3f36 126 pwmout_pulsewidth_us(&_pwmB, pulseWidth);
lixianyu 4:0670023d3f36 127 #else
lixianyu 4:0670023d3f36 128 pwmout_pulsewidth_us(&_pwmA, 0);
lixianyu 4:0670023d3f36 129 pwmout_pulsewidth_us(&_pwmB, 241);
lixianyu 4:0670023d3f36 130 #endif
lixianyu 3:e4ac7c1a14de 131 }
lixianyu 3:e4ac7c1a14de 132 }
lixianyu 3:e4ac7c1a14de 133 #endif
lixianyu 1:758ccab13947 134
lixianyu 1:758ccab13947 135 void Motor::Free()
lixianyu 1:758ccab13947 136 {
lixianyu 1:758ccab13947 137 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 138 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 3:e4ac7c1a14de 139 #if 0
lixianyu 1:758ccab13947 140 digitalWrite(channel_A, LOW);
lixianyu 1:758ccab13947 141 digitalWrite(channel_B, LOW);
lixianyu 3:e4ac7c1a14de 142 #else
lixianyu 3:e4ac7c1a14de 143 pwmout_pulsewidth_us(&_pwmA, 0);
lixianyu 3:e4ac7c1a14de 144 pwmout_pulsewidth_us(&_pwmB, 0);
lixianyu 3:e4ac7c1a14de 145 #endif
lixianyu 1:758ccab13947 146 }
lixianyu 1:758ccab13947 147
lixianyu 1:758ccab13947 148 void Motor::Brake()
lixianyu 1:758ccab13947 149 {
lixianyu 1:758ccab13947 150 int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
lixianyu 1:758ccab13947 151 int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
lixianyu 3:e4ac7c1a14de 152 #if 0
lixianyu 1:758ccab13947 153 digitalWrite(channel_A, HIGH);
lixianyu 1:758ccab13947 154 digitalWrite(channel_B, HIGH);
lixianyu 3:e4ac7c1a14de 155 #else
lixianyu 3:e4ac7c1a14de 156 pwmout_pulsewidth_us(&_pwmA, _period_us);
lixianyu 3:e4ac7c1a14de 157 pwmout_pulsewidth_us(&_pwmB, _period_us);
lixianyu 3:e4ac7c1a14de 158 #endif
lixianyu 1:758ccab13947 159 }