CRAC Team / MYCRAC

CRAC-LIB

Dependents:   Asserv_mot Asserv_mot

Diff: MYCRAC_utility.cpp

Revision:
0:cbe368f18aeb
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MYCRAC_utility.cpp	Wed Apr 19 17:41:26 2017 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "MYCRAC_utility.h"
+
+void write_PWM1(double vit)
+{
+
+    if(vit < 0.0)                    
+    { 
+        vit = -vit;
+        INA_M1 = 1;
+        INB_M1 = 0;    
+    }
+    else                            
+    {
+        INA_M1 = 0;
+        INB_M1 = 1;
+    }
+     
+    mot1.write(vit);
+    test1++;
+}
+
+void write_PWM2(double vit)
+{
+    
+    if(vit < 0.0)                    
+    {
+
+        vit = -vit;
+        INA_M2 = 1;
+        INB_M2 = 0;
+         
+    }
+    else                            
+    { 
+        INA_M2 = 0;
+        INB_M2 = 1; 
+    }
+    
+    mot2.write(vit);
+    test2++;
+}