Jonas DOREL / Mbed 2 deprecated Moteurs

Moteurs

Dependencies:   Encoder_Nucleo_16_bits PwmIn mbed

Fork of Automate by Jonas DOREL

Diff: function_library.h

Revision:
9:168226ff8f76
Parent:
8:ad8b64ca548d
--- a/function_library.h	Fri Jun 09 17:06:05 2017 +0000
+++ b/function_library.h	Fri Jun 09 19:38:56 2017 +0000
@@ -272,4 +272,21 @@
         *LD2_dist = 59.175/(LD2_val*3.3-0.0275);
         if (*LD2_dist > 150) *LD2_dist = 150;
     }
+}
+
+void motor_command(int mg_command, int md_command, int* mg_pwm, int* md_pwm, int* mg_sens, int* md_sens) {
+    if(mg_command > 0) {
+        *mg_sens = 1;
+        *mg_pwm = mg_command;
+    } else {
+        *mg_sens = -1;
+        *mg_pwm = -mg_command;
+    }
+    if(md_command > 0) {
+        *mg_sens = 1;
+        *md_pwm = md_command;
+    } else {
+        *md_sens = -1;
+        *md_pwm = md_command;
+    }
 }
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