2017 hongo b team
Dependents: CtrlMD 2017_Bteam_alpha_slave
Diff: MD10c.cpp
- Revision:
- 0:be058264e889
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MD10c.cpp Fri Sep 08 03:31:04 2017 +0000 @@ -0,0 +1,28 @@ +#include "MD10c.h" + +MD10c::MD10c(PinName dir_pin, PinName pwm_pin, bool _dir_flip) +: dir_out(dir_pin), + pwm_out(pwm_pin) +{ + dir_flip = _dir_flip; +} + +void MD10c::drive(double _pwm) +{ + bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm; + double pwm = fabs(_pwm); + + dir_out.write(dir); + pwm_out.write(pwm); + +} + +void MD10c::drive(signed int _pwm, unsigned int max_pwm_abs) +{ + bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm; + double pwm = fabs((double)(max_pwm_abs / _pwm)); + + dir_out.write(dir); + pwm_out.write(pwm); + +} \ No newline at end of file