2017 hongo b team
Dependents: CtrlMD 2017_Bteam_alpha_slave
TS120.cpp
- Committer:
- Komazawa_sun
- Date:
- 2017-09-08
- Revision:
- 0:be058264e889
File content as of revision 0:be058264e889:
#include "TS120.h" TS120::TS120(PinName pwm_pin, bool _dir_flip, double _flont_range, double _back_range) : pwm_out(pwm_pin) { dir_flip = _dir_flip; flont_range = _flont_range; back_range = _back_range; drive(0); wait_ms(100); } void TS120::drive(double _pwm) { double pwm = _pwm; if(dir_flip == true) pwm *= -1; if(_pwm > 0.0) pwm *= flont_range; else pwm *= back_range; int pwm_us = (int)((pwm_max - pwm_min) / 2) * (pwm + 1) + pwm_min; pwm_out.pulsewidth_us(pwm_us); } void TS120::drive(signed int _pwm, unsigned int max_pwm_abs) { double pwm = (double)((1 / max_pwm_abs) * _pwm); if(dir_flip == true) pwm *= -1; if(pwm > 0.0) pwm *= flont_range; else pwm *= back_range; int pwm_us = (int)((pwm_max - pwm_min) / 2) * (pwm + 1) + pwm_min; pwm_out.pulsewidth_us(pwm_us); }