CRAC-LIB
Dependents: Asserv_mot Asserv_mot
MYCRAC_utility.cpp@0:cbe368f18aeb, 2017-04-19 (annotated)
- Committer:
- Brand101
- Date:
- Wed Apr 19 17:41:26 2017 +0000
- Revision:
- 0:cbe368f18aeb
B1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Brand101 | 0:cbe368f18aeb | 1 | #include "mbed.h" |
Brand101 | 0:cbe368f18aeb | 2 | #include "MYCRAC_utility.h" |
Brand101 | 0:cbe368f18aeb | 3 | |
Brand101 | 0:cbe368f18aeb | 4 | void write_PWM1(double vit) |
Brand101 | 0:cbe368f18aeb | 5 | { |
Brand101 | 0:cbe368f18aeb | 6 | |
Brand101 | 0:cbe368f18aeb | 7 | if(vit < 0.0) |
Brand101 | 0:cbe368f18aeb | 8 | { |
Brand101 | 0:cbe368f18aeb | 9 | vit = -vit; |
Brand101 | 0:cbe368f18aeb | 10 | INA_M1 = 1; |
Brand101 | 0:cbe368f18aeb | 11 | INB_M1 = 0; |
Brand101 | 0:cbe368f18aeb | 12 | } |
Brand101 | 0:cbe368f18aeb | 13 | else |
Brand101 | 0:cbe368f18aeb | 14 | { |
Brand101 | 0:cbe368f18aeb | 15 | INA_M1 = 0; |
Brand101 | 0:cbe368f18aeb | 16 | INB_M1 = 1; |
Brand101 | 0:cbe368f18aeb | 17 | } |
Brand101 | 0:cbe368f18aeb | 18 | |
Brand101 | 0:cbe368f18aeb | 19 | mot1.write(vit); |
Brand101 | 0:cbe368f18aeb | 20 | test1++; |
Brand101 | 0:cbe368f18aeb | 21 | } |
Brand101 | 0:cbe368f18aeb | 22 | |
Brand101 | 0:cbe368f18aeb | 23 | void write_PWM2(double vit) |
Brand101 | 0:cbe368f18aeb | 24 | { |
Brand101 | 0:cbe368f18aeb | 25 | |
Brand101 | 0:cbe368f18aeb | 26 | if(vit < 0.0) |
Brand101 | 0:cbe368f18aeb | 27 | { |
Brand101 | 0:cbe368f18aeb | 28 | |
Brand101 | 0:cbe368f18aeb | 29 | vit = -vit; |
Brand101 | 0:cbe368f18aeb | 30 | INA_M2 = 1; |
Brand101 | 0:cbe368f18aeb | 31 | INB_M2 = 0; |
Brand101 | 0:cbe368f18aeb | 32 | |
Brand101 | 0:cbe368f18aeb | 33 | } |
Brand101 | 0:cbe368f18aeb | 34 | else |
Brand101 | 0:cbe368f18aeb | 35 | { |
Brand101 | 0:cbe368f18aeb | 36 | INA_M2 = 0; |
Brand101 | 0:cbe368f18aeb | 37 | INB_M2 = 1; |
Brand101 | 0:cbe368f18aeb | 38 | } |
Brand101 | 0:cbe368f18aeb | 39 | |
Brand101 | 0:cbe368f18aeb | 40 | mot2.write(vit); |
Brand101 | 0:cbe368f18aeb | 41 | test2++; |
Brand101 | 0:cbe368f18aeb | 42 | } |