taiyou komazawa / MotorDriver

2017 hongo b team

Dependents:   CtrlMD 2017_Bteam_alpha_slave

MD10c.cpp@0:be058264e889, 2017-09-08 (annotated)

Committer:
Komazawa_sun
Date:
Fri Sep 08 03:31:04 2017 +0000
Revision:
0:be058264e889
????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:be058264e889 1 #include "MD10c.h"
Komazawa_sun 0:be058264e889 2
Komazawa_sun 0:be058264e889 3 MD10c::MD10c(PinName dir_pin, PinName pwm_pin, bool _dir_flip)
Komazawa_sun 0:be058264e889 4 : dir_out(dir_pin),
Komazawa_sun 0:be058264e889 5 pwm_out(pwm_pin)
Komazawa_sun 0:be058264e889 6 {
Komazawa_sun 0:be058264e889 7 dir_flip = _dir_flip;
Komazawa_sun 0:be058264e889 8 }
Komazawa_sun 0:be058264e889 9
Komazawa_sun 0:be058264e889 10 void MD10c::drive(double _pwm)
Komazawa_sun 0:be058264e889 11 {
Komazawa_sun 0:be058264e889 12 bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
Komazawa_sun 0:be058264e889 13 double pwm = fabs(_pwm);
Komazawa_sun 0:be058264e889 14
Komazawa_sun 0:be058264e889 15 dir_out.write(dir);
Komazawa_sun 0:be058264e889 16 pwm_out.write(pwm);
Komazawa_sun 0:be058264e889 17
Komazawa_sun 0:be058264e889 18 }
Komazawa_sun 0:be058264e889 19
Komazawa_sun 0:be058264e889 20 void MD10c::drive(signed int _pwm, unsigned int max_pwm_abs)
Komazawa_sun 0:be058264e889 21 {
Komazawa_sun 0:be058264e889 22 bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
Komazawa_sun 0:be058264e889 23 double pwm = fabs((double)(max_pwm_abs / _pwm));
Komazawa_sun 0:be058264e889 24
Komazawa_sun 0:be058264e889 25 dir_out.write(dir);
Komazawa_sun 0:be058264e889 26 pwm_out.write(pwm);
Komazawa_sun 0:be058264e889 27
Komazawa_sun 0:be058264e889 28 }