Miya Miyagawa / Mbed 2 deprecated NRP2020_main

Outher...Miura Souta

Dependencies:   mbed MCP23017

Motor/Motor.cpp

Committer:
M_souta
Date:
2020-01-21
Revision:
1:5b0303768126
Parent:
0:db8d4af513c0
Child:
2:32d2cd7d744b

File content as of revision 1:5b0303768126:

#include "Motor.h"

#include "mbed.h"

MOTOR::MOTOR(PinName D1, PinName D2, PinName pwm)
    :D1_(D1), D2_(D2), pwm_(pwm)
{
    D1_.write(0);
    D2_.write(0);
    pwm_.period_us(50);  // 20kHz
    pwm_.write(0);
}

void MOTOR::Dir(dire mode, uint8_t pwm)
{
    D1_.write((char)mode & 0x01);
    D2_.write((char)mode & 0x02);
    pwm_.write((float)(pwm / 255.0));
}

void MOTOR::Dir(dire mode)
{
    D1_.write((char)mode & 0x01);
    D2_.write((char)mode & 0x02);
}

void MOTOR::PWM(uint8_t pwm)
{
    pwm_.write((float)(pwm / 255.0));
}