Diff: Move.h

Revision:

2:0c73afb20925

Child:

4:135619de1646

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Move.h	Sun Oct 24 14:46:02 2021 +0000
@@ -0,0 +1,45 @@
+#include "TB6612.h"
+
+TB6612 motor_a(D10,D6,D7);  //モータA制御用(pwma,ain1,ain2)
+TB6612 motor_b(D11,D8,D9);  //モータB制御用(pwmb,bin1,bin2)
+
+void Move(char input_data, float motor_speed) {
+    switch (input_data) {
+        case '1':  // 停止
+            motor_a = 0;
+            motor_b = 0;
+            break;
+        case '2':  // 前進
+            motor_a = motor_speed;
+            motor_b = motor_speed;
+            break;
+        case '3':  // 後退
+            motor_a = -motor_speed;
+            motor_b = -motor_speed;
+            break;
+        case '4':  // 時計回りに回転
+            motor_a = motor_speed;
+            motor_b = -motor_speed;
+            break;
+        case '5':  // 反時計回りに回転
+            motor_a = -motor_speed;
+            motor_b = motor_speed;
+            break;
+        case '6':  // Aのみ正転
+            motor_a = motor_speed;
+            break;
+        case '7':  // Bのみ正転
+            motor_b = motor_speed;
+            break;
+        case '8':  // Aのみ逆転
+            motor_a = -motor_speed;
+            break;
+        case '9':  // Bのみ逆転
+            motor_b = -motor_speed;
+            break;
+        default:
+            // エラーメッセージを返す
+            break;
+    }
+    pc.printf("%d", input_data);
+}
\ No newline at end of file