ロボステ6期 / SpeedController___2_25

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Dependencies:   Encoder

Dependents:   NHK2020-m2-2-ros_2_25

Diff: SpeedController.cpp

Revision:
10:daf0e763bf35
Parent:
6:d110c276aa5a
diff -r b1708b8819f1 -r daf0e763bf35 SpeedController.cpp
--- a/SpeedController.cpp	Sat Aug 10 05:36:57 2019 +0000
+++ b/SpeedController.cpp	Thu Nov 14 07:58:38 2019 +0000
@@ -59,6 +59,13 @@
         pwm_B_=-duty;
     }
 }
+double SpeedControl::getDutyF(){
+    return pwm_F_.read();
+}
+
+double SpeedControl::getDutyB(){
+    return pwm_B_.read();
+}
 
 void SpeedControl::setPDparam(double kp,double kd)
 {