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
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Who changed what in which revision?
User | Revision | Line number | New 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 | } |