Kotaro Yamamoto / QMotor

おためしらいぶらり　Q-rover-Kaiを50行以内で動かすという強い気持ち　使用非推奨　動作未確認　単純なPWM動作のライブラリ化実験用

Fork of QMotor by Kotaro Yamamoto

Files at this revision

API Documentation at this revision

Revision 1:b80cd8133481, committed 2017-12-06

Comitter:
KOTAROYamamoto
Date:
Wed Dec 06 23:07:23 2017 +0000
Parent:
0:48d84c228105
Commit message:
?????????????

Changed in this revision

QMotor.cpp Show annotated file Show diff for this revision Revisions of this file
QMotor.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 48d84c228105 -r b80cd8133481 QMotor.cpp
--- a/QMotor.cpp	Wed Dec 06 07:07:32 2017 +0000
+++ b/QMotor.cpp	Wed Dec 06 23:07:23 2017 +0000
@@ -6,7 +6,8 @@
     _R2=0.0;//R2を初期化
     _L1=0.0;//L1を初期化
     _L2=0.0;//L2を初期化
-
+    float san1;
+    float san2;
 }
 
 void QMotor::Front1(){                   //直進部
@@ -44,14 +45,14 @@
     _L1=0.0;
     _L2=0.0;
 }
-void QMotor::Right1(float an,float san){          //第一while関数右折部
+void QMotor::Right1(float an){          //第一while関数右折部
     //sdprint(" an=");
     //sdprint(an);
     //sdprint(" R1 ");
     //xbee.printf("COMMAND:Right1\n");
     _R1=1.0;
     _R2=0.0;
-    wait(-an*san);
+    wait(-an*san1);
         
     _R1=1.0;
     _R2=1.0;
@@ -60,7 +61,7 @@
     _R2=0.0;
   }
   
-  void QMotor::Right2(float an,float san){          //第二while関数右折部
+  void QMotor::Right2(float an){          //第二while関数右折部
     //sdprint(" an=");
     //sdprint(an);
     //sdprint(" R2 ");
@@ -68,7 +69,7 @@
     //analogWrite(5,76.5);//Lモーターを30%出力で回転
     _R1=1.0;
     _R2=0.0;
-    wait(-an*san);
+    wait(-an*san2);
         
     _R1=1.0;
     _R2=1.0;
@@ -78,14 +79,14 @@
   }
   
   
-  void QMotor::Left1(float an,float san){           //第一while関数左折部
+  void QMotor::Left1(float an){           //第一while関数左折部
     //sdprint(" an=");
     //sdprint(an);
     //sdprint(" L1 ");
     //xbee.printf("COMMAND:Left1\n");
     _L1=1.0;
     _L2=0.0;
-    wait(an*san);
+    wait(an*san1);
         
     _L1=1.0;
     _L2=1.0;
@@ -94,7 +95,7 @@
     _L2=0.0;
   }
 
-  void QMotor::Left2(float an,float san){           //第二while関数左折部
+  void QMotor::Left2(float an){           //第二while関数左折部
     //sdprint(" an=");
     //sdprint(an);
     //sdprint(" L2 ");
@@ -102,7 +103,7 @@
     //analogWrite(6,76.5);//Rモーターを30%出力で回転
     _L1=1.0;
     _L2=0.0;
-    wait(an*san);
+    wait(an*san2);
         
     _L1=1.0;
     _L2=1.0;

diff -r 48d84c228105 -r b80cd8133481 QMotor.h
--- a/QMotor.h	Wed Dec 06 07:07:32 2017 +0000
+++ b/QMotor.h	Wed Dec 06 23:07:23 2017 +0000
@@ -14,10 +14,10 @@
         
         void Front1();
         void Front2();
-        void Right1(float an,float san);
-        void Right2(float an,float san);
-        void Left1(float an,float san);
-        void Left2(float an,float san);
+        void Right1(float an);
+        void Right2(float an);
+        void Left1(float an);
+        void Left2(float an);
         void Reverse();
         void Stack();
         void Fred();
@@ -27,6 +27,8 @@
     PwmOut _R2;
     PwmOut _L1;
     PwmOut _L2;
+    float san1;
+    float san2;
 };
 void Front1();
 void Front2();