taiyou komazawa / MotorDriver

2017 hongo b team

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Show/hide line numbers MD10c.cpp Source File

MD10c.cpp

00001 #include "MD10c.h"
00002 
00003 MD10c::MD10c(PinName dir_pin, PinName pwm_pin, bool _dir_flip)
00004 :   dir_out(dir_pin), 
00005     pwm_out(pwm_pin)
00006 {
00007     dir_flip = _dir_flip;
00008 }
00009 
00010 void MD10c::drive(double _pwm)
00011 {
00012     bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
00013     double pwm = fabs(_pwm);
00014     
00015     dir_out.write(dir);
00016     pwm_out.write(pwm);
00017     
00018 }
00019 
00020 void MD10c::drive(signed int _pwm, unsigned int max_pwm_abs)
00021 {
00022     bool dir = (dir_flip == false)?0 <= _pwm :0 >= _pwm;
00023     double pwm = fabs((double)(max_pwm_abs / _pwm));
00024     
00025     dir_out.write(dir);
00026     pwm_out.write(pwm);
00027     
00028 }
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