teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

HbMotor.cpp

Committer:
takeru0x1103
Date:
2018-12-01
Revision:
18:5aa48aec9cae
Child:
19:4b0fe9a5ec38

File content as of revision 18:5aa48aec9cae:

#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);
}