NHK2017Ateamかにろぼ
Dependencies: 2017NHKpin_config mbed FEP HMC6352 MotorDriverController PID QEI omni
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Diff: bot/motor_driver/motor_driver.cpp
- Revision:
- 13:0908c3707020
- Parent:
- 9:cba664555161
- Child:
- 14:a2d77d866d42
--- a/bot/motor_driver/motor_driver.cpp Wed Aug 30 13:45:31 2017 +0900 +++ b/bot/motor_driver/motor_driver.cpp Wed Aug 30 14:19:01 2017 +0900 @@ -2,12 +2,14 @@ MotorDriver::MotorDriver() : MDC(MDSDA, MDSCL), solenoid(solenoidPin) { - MotorSTOP(); + MDC::MotorSTOP(); solenoid = 0; } void MotorDriver::moveSlider(float speed) { + if(!arm.isResetted() && speed < 0) speed = 0; + if(arm.isPushed() && speed > 0) speed = 0; write(ARM_MDC_ADDR, SLIDER_NUMBER, speed); }