Diff: HbMotor.cpp

Revision:

25:f3a6e7eec9c3

Parent:

24:c5945aaae777

Child:

27:ff63c23bc689

--- a/HbMotor.cpp	Mon Dec 10 12:29:37 2018 +0000
+++ b/HbMotor.cpp	Wed Dec 12 23:52:22 2018 +0000
@@ -7,8 +7,9 @@
 HbMotor::HbMotor(UCHAR iID ){
     id      =iID;
     ofs     =0;//
-    limitH  =800;
-    limitL  =-800;
+    limitH  =2000;
+    limitL  =-2000;
+    curVal = 0;
 }
 
 //-----------------------------------------
@@ -27,16 +28,31 @@
     }
     
     //オフセット重畳
-    val = val + ofs;
-    
+    curVal = val = val + ofs;
+    //sp.printf("MOT [%d]",curVal);//Test Code
     //PWM幅設定
     fpgaSubProp(id,val);
 }
-void HbMotor::setOffset(INT16 iVal){
+
+void HbMotor::setOfs(INT16 iVal){
     ofs = iVal;
 }
 
+INT16 HbMotor::getOfs(){
+    return ofs;
+}
+
 void HbMotor::setLimit(INT16 low, INT16 hi){
     limitL = low;
     limitH = hi;
-}
\ No newline at end of file
+}
+
+INT16 HbMotor::getCurrentValue(){
+    return curVal;
+}
+
+void HbMotor::setValueDirect(INT16 iVal){
+    //PWM幅設定
+    //sp.printf("MOT [%d]",iVal);//Test Code
+    fpgaSubProp(id,iVal);
+}