Diff: A3921_2p.cpp

Revision:

0:99d974f5780a

Child:

1:3ea68f4a0556

diff -r 000000000000 -r 99d974f5780a A3921_2p.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A3921_2p.cpp	Sat Jul 03 10:01:53 2021 +0000
@@ -0,0 +1,87 @@
+//**********************
+// A3921_2p.cpp for mbed
+//
+// (C)Copyright 2021 All rights reserved by R.Ihashi
+//**********************
+
+#include "A3921_2p.h"
+
+A3921_2p::A3921_2p(PinName pwm_l, PinName phase):
+PWM_L(pwm_l),
+PHASE(phase)
+{
+    reverse = false;
+    duty = 0;
+    period = 0.001;
+    PWM_L.period(period);   
+}
+
+A3921_2p::~A3921_2p(){
+    PWM_L.pulsewidth_us(0);
+    PHASE = 1;
+        
+}
+
+void A3921_2p::SetPeriod(float p){
+    period = p;
+    PWM_L.period(period);
+}
+
+void A3921_2p::SetEnable(bool mode){
+    enable = mode;    
+}
+
+void A3921_2p::SetReverse(bool mode){
+    reverse = mode;    
+}
+
+void A3921_2p::SetPulseWidth(float t){// -period <= t <= period
+    bool sign = true;
+    
+    if(t > period)t = period;       //周期を超えないように制限
+    else if(t < -period)t = -period;//周期を超えないように制限
+    
+    duty = int(1000.0 * (t/period));//Duty比を計算
+    
+    if(t < 0.0f){                   //マイナスだったらfalse
+        sign = false;   
+        t=-t;
+    }
+    
+    PHASE = reverse ^ sign;         //回転方向を指定
+    PWM_L.pulsewidth((float)enable*t);//パルスを出力
+}
+
+void A3921_2p::SetPulseWidth_us(int t){
+    SetPulseWidth((float)t/1000000);
+}
+
+void A3921_2p::SetDuty(int x){
+    SetPulseWidth((float)x * period / 1000.0f);  
+}
+
+int A3921_2p::GetDuty(){
+    return duty;
+}
+
+int A3921_2p::GetPulseWidth_us(){
+    return GetPulseWidth() * 1000000;
+}
+
+float A3921_2p::GetPulseWidth(){
+    float pluse;
+    pluse = (float)duty/1000.0f * period;
+    return fabs(pluse);    
+}
+
+float A3921_2p::GetPeriod(){
+    return period;    
+}
+
+bool A3921_2p::GetEnable(){
+    return enable;    
+}
+
+bool A3921_2p::GetReverse(){
+    return reverse;    
+}
\ No newline at end of file