Yusuke Aihara / CustomExplorerRobot

Library for the CustomExplorerRobot.

Dependents:   CustomExplorerRobot_test

BD6212/BD6212.cpp@1:dce53bcd79a4, 2016-02-27 (annotated)

Committer:
Usuke
Date:
Sat Feb 27 10:04:22 2016 +0000
Revision:
1:dce53bcd79a4
Parent:
0:ad4667fc5a76 
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Usuke 0:ad4667fc5a76 1 #include "mbed.h"
Usuke 0:ad4667fc5a76 2 #include "BD6212.h"
Usuke 0:ad4667fc5a76 3
Usuke 0:ad4667fc5a76 4 BD6212::BD6212(PinName fwd, PinName rev) : _fwd(fwd), _rev(rev){
Usuke 0:ad4667fc5a76 5 _fwd.period_us(20);
Usuke 0:ad4667fc5a76 6 _rev.period_us(20);
Usuke 0:ad4667fc5a76 7 _fwd = 0.0f;
Usuke 0:ad4667fc5a76 8 _rev = 0.0f;
Usuke 0:ad4667fc5a76 9
Usuke 0:ad4667fc5a76 10 bspeed = 0.0f;
Usuke 0:ad4667fc5a76 11 }
Usuke 0:ad4667fc5a76 12
Usuke 0:ad4667fc5a76 13 void BD6212::speed(float speed){
Usuke 0:ad4667fc5a76 14 _fwd.period_us(20);
Usuke 0:ad4667fc5a76 15 _rev.period_us(20);
Usuke 0:ad4667fc5a76 16 if(speed != bspeed){
Usuke 0:ad4667fc5a76 17 if(speed > 0.0f){
Usuke 0:ad4667fc5a76 18 _fwd = speed;
Usuke 0:ad4667fc5a76 19 _rev = 0.0f;
Usuke 0:ad4667fc5a76 20 }else if(speed < 0.0f){
Usuke 0:ad4667fc5a76 21 _fwd = 0.0f;
Usuke 0:ad4667fc5a76 22 _rev = -speed;
Usuke 0:ad4667fc5a76 23 }else{
Usuke 0:ad4667fc5a76 24 _fwd = 1.0f;
Usuke 0:ad4667fc5a76 25 _rev = 1.0f;
Usuke 0:ad4667fc5a76 26 }
Usuke 0:ad4667fc5a76 27 bspeed = speed;
Usuke 0:ad4667fc5a76 28 }
Usuke 0:ad4667fc5a76 29 }
Usuke 0:ad4667fc5a76 30
Usuke 0:ad4667fc5a76 31 void BD6212::coast(void){
Usuke 0:ad4667fc5a76 32 _fwd.period_us(20);
Usuke 0:ad4667fc5a76 33 _rev.period_us(20);
Usuke 0:ad4667fc5a76 34 _fwd = 0.0f;
Usuke 0:ad4667fc5a76 35 _rev = 0.0f;
Usuke 0:ad4667fc5a76 36 }