kevinveenbirkenbach/arduino_motor_controll
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Motorsteurung optimiert

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This commit is contained in:
Kevin Frantz 2017-01-18 22:15:39 +01:00
parent a3504c6627
commit f050f5c5f2
2 changed files with 19 additions and 2 deletions
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17
Motor.cpp
View File

@ -8,26 +8,39 @@ int Motor::getBackwardsValue(){
return 0; return 0;
} }
int Motor::getSpeed(int direction){
if(direction==LOW){
return 255-this->speedPwm;
}
return this->speedPwm;
}
Motor::Motor(int pwmPin, int directionPin,bool forwardValue, int speedPwm, int directionDelay){ Motor::Motor(int pwmPin, int directionPin,bool forwardValue, int speedPwm, int directionDelay){
this->pwmPin = pwmPin; this->pwmPin = pwmPin;
this->directionPin = directionPin; this->directionPin = directionPin;
this->forwardValue = forwardValue; this->forwardValue = forwardValue;
this->speedPwm = speedPwm; this->speedPwm = speedPwm;
this->directionDelay= directionDelay; this->directionDelay= directionDelay;
//Pins auf Output setzen
pinMode(pwmPin, OUTPUT );
pinMode(directionPin, OUTPUT );
digitalWrite(pwmPin, LOW );
digitalWrite(directionPin, LOW );
} }
void Motor::forward(){ void Motor::forward(){
//Motor vor Änderungen stoppen //Motor vor Änderungen stoppen
this->stop(); this->stop();
digitalWrite(this->directionPin,this->forwardValue); digitalWrite(this->directionPin,this->forwardValue);
analogWrite(this->pwmPin, this->speedPwm); analogWrite(this->pwmPin, this->getSpeed(this->forwardValue));
} }
void Motor::backward(){ void Motor::backward(){
//Motor vor Änderungen stoppen //Motor vor Änderungen stoppen
this->stop(); this->stop();
digitalWrite(this->directionPin,this->getBackwardsValue()); digitalWrite(this->directionPin,this->getBackwardsValue());
analogWrite(this->pwmPin, this->speedPwm); analogWrite(this->pwmPin, this->getSpeed(this->getBackwardsValue()));
} }
void Motor::stop(){ void Motor::stop(){

4
Motor.h
View File

@ -14,6 +14,10 @@ class Motor{
int forwardValue; int forwardValue;
int speedPwm; int speedPwm;
int directionDelay; int directionDelay;
//Liefert die PWM-Geschwindigkeit in Abhängigkeit von der Richtung zurück
int getSpeed(int direction);
//Liefert den Vorwärtswert;HIGH oder LOW zurück //Liefert den Vorwärtswert;HIGH oder LOW zurück
int getBackwardsValue(); int getBackwardsValue();
public: public: