taiyou komazawa
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);
+
+}
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