j k / ZumoControl

ZumoにFRDM KL-25Zを搭載した時のモーターコントロールライブラリです。 PWM用の端子が互換していないので、割り込みでパルスを作っています。 デフォルトは100Hzの10段階になっています。

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ZumoControl Class Reference
Public Member Functions

ZumoControl Class Reference

Zumo motor control class. More...

#include <ZumoControl.h>

Public Member Functions

 ZumoControl ()
 Create the Zumo object connected to the default pins.
 ZumoControl (PinName rc, PinName rp, PinName lc, PinName lp)
 Create the Zumo object connected to specific pins.
void left_motor (float speed)
 Directly control the speed and direction of the left motor.
void right_motor (float speed)
 Directly control the speed and direction of the right motor.
void forward (float speed)
 Drive both motors forward as the same speed.
void backward (float speed)
 Drive both motors backward as the same speed.
void left (float speed)
 Drive left motor backwards and right motor forwards at the same speed to turn on the spot.
void right (float speed)
 Drive left motor forward and right motor backwards at the same speed to turn on the spot.
void stop (void)
 Stop both motors.

Detailed Description

Zumo motor control class.

Example: 

 // Drive the Zumo forward, turn left, back, turn right, at half speed for half a second

   #include "mbed.h"
   #include "ZumoControl.h"

   ZumoControl zumo_ctrl;

   int main() {

     wait(0.5);

     zumo_ctrl.forward(0.5);
     wait (0.5);
     zumo_ctrl.left(0.5);
     wait (0.5);
     zumo_ctrl.backward(0.5);
     wait (0.5);
     zumo_ctrl.right(0.5);
     wait (0.5);

     zumo_ctrl.stop();

 }

Definition at line 60 of file ZumoControl.h.

Constructor & Destructor Documentation

ZumoControl (  )

Create the Zumo object connected to the default pins.

Parameters:
rcGPIO pin used for Right motor control. Default is PTC9
rpGPIO pin used for Right motor PWM. Default is PTD5
lcGPIO pin used for Left motor control. Default is PTA13
lpGPIO pin used for Left motor PWM. Default is PTD0

Definition at line 39 of file ZumoControl.cpp.

ZumoControl ( PinName  rc,
PinName  rp,
PinName  lc,
PinName  lp 
)

Create the Zumo object connected to specific pins.

Definition at line 27 of file ZumoControl.cpp.

Member Function Documentation

void backward ( float  speed )

Drive both motors backward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 106 of file ZumoControl.cpp.

void forward ( float  speed )

Drive both motors forward as the same speed.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 99 of file ZumoControl.cpp.

void left ( float  speed )

Drive left motor backwards and right motor forwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 113 of file ZumoControl.cpp.

void left_motor ( float  speed )

Directly control the speed and direction of the left motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 75 of file ZumoControl.cpp.

void right ( float  speed )

Drive left motor forward and right motor backwards at the same speed to turn on the spot.

Parameters:
speedA normalised number 0 - 1.0 represents the full range.

Definition at line 120 of file ZumoControl.cpp.

void right_motor ( float  speed )

Directly control the speed and direction of the right motor.

Parameters:
speedA normalised number -1.0 - 1.0 represents the full range.

Definition at line 87 of file ZumoControl.cpp.

void stop ( void   )

Stop both motors.

Definition at line 127 of file ZumoControl.cpp.

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