CanSat-C 2021 / a

a

TB6612.cpp@5:096c2484805d, 2021-11-06 (annotated)

Committer:
miyajitakenari
Date:
Sat Nov 06 03:07:17 2021 +0000
Revision:
5:096c2484805d
Parent:
4:95d5e9ee8c15 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:810f315ba3dc 1 #include "TB6612.h"
jksoft 0:810f315ba3dc 2
jksoft 0:810f315ba3dc 3 // TB6612 Class Constructor
jksoft 0:810f315ba3dc 4 TB6612::TB6612(PinName pwm, PinName fwd, PinName rev):
jksoft 0:810f315ba3dc 5 _pwm(pwm), _fwd(fwd), _rev(rev) {
jksoft 0:810f315ba3dc 6
jksoft 0:810f315ba3dc 7 _fwd = 0;
jksoft 0:810f315ba3dc 8 _rev = 0;
jksoft 0:810f315ba3dc 9 _pwm = 0.0;
jksoft 4:95d5e9ee8c15 10 stat = 0;
jksoft 0:810f315ba3dc 11 _pwm.period(0.001);
jksoft 0:810f315ba3dc 12
jksoft 0:810f315ba3dc 13 }
jksoft 0:810f315ba3dc 14
jksoft 0:810f315ba3dc 15 // Speed Control
jksoft 0:810f315ba3dc 16 // arg
jksoft 0:810f315ba3dc 17 // float speed -1.0 - 0.0 - 1.0
miyajitakenari 5:096c2484805d 18 float TB6612::speed(double speed) {
jksoft 0:810f315ba3dc 19
jksoft 0:810f315ba3dc 20 if( speed > 0.0 )
jksoft 0:810f315ba3dc 21 {
jksoft 0:810f315ba3dc 22 _pwm = speed;
jksoft 0:810f315ba3dc 23 _fwd = 1;
jksoft 0:810f315ba3dc 24 _rev = 0;
jksoft 4:95d5e9ee8c15 25 stat = 1;
jksoft 0:810f315ba3dc 26 }
jksoft 0:810f315ba3dc 27 else if( speed < 0.0 )
jksoft 0:810f315ba3dc 28 {
jksoft 0:810f315ba3dc 29 _pwm = -speed;
jksoft 0:810f315ba3dc 30 _fwd = 0;
jksoft 0:810f315ba3dc 31 _rev = 1;
jksoft 4:95d5e9ee8c15 32 stat = -1;
jksoft 0:810f315ba3dc 33 }
jksoft 0:810f315ba3dc 34 else
jksoft 0:810f315ba3dc 35 {
jksoft 0:810f315ba3dc 36 _fwd = 1;
jksoft 0:810f315ba3dc 37 _rev = 1;
jksoft 4:95d5e9ee8c15 38 stat = 0;
jksoft 0:810f315ba3dc 39 }
jksoft 2:ad4e7374e5c1 40 return speed==0 ? 0 : speed > 0 ? 1 : -1;
jksoft 2:ad4e7374e5c1 41 }