teamALI
/
HB2018
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Diff: HbMotor.cpp
- Revision:
- 18:5aa48aec9cae
- Child:
- 19:4b0fe9a5ec38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HbMotor.cpp Sat Dec 01 14:03:08 2018 +0000
@@ -0,0 +1,34 @@
+#include "HbMotor.h"
+#include "fpga.h"
+
+//=========================================
+//コンストラクタ
+//=========================================
+HbMotor::HbMotor(UCHAR iID ){
+ id =iID;
+ ofs =100;//
+ limitH =500;
+ limitL =-500;
+}
+
+//-----------------------------------------
+//モーター設定
+//-----------------------------------------
+void HbMotor::setValue(INT16 iVal){
+ UINT16 val;
+ UINT16 slt;
+
+ //入力リミット
+ if( iVal > limitH ){
+ val = limitH;
+ }else if( iVal < limitL ){
+ val = limitL;
+ }else{
+ val = iVal;
+ }
+
+ //オフセット重畳
+ val = val + ofs;
+
+ fpgaSubProp(id,val);
+}