2017 hongo b team
Dependents: CtrlMD 2017_Bteam_alpha_slave
MD10c.cpp
- Committer:
- Komazawa_sun
- Date:
- 2017-09-08
- Revision:
- 0:be058264e889
File content as of revision 0:be058264e889:
#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); }