Library for the CustomExplorerRobot.
Dependents: CustomExplorerRobot_test
BD6212/BD6212.cpp@0:ad4667fc5a76, 2016-02-27 (annotated)
- Committer:
- Usuke
- Date:
- Sat Feb 27 09:20:21 2016 +0000
- Revision:
- 0:ad4667fc5a76
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Who changed what in which revision?
User | Revision | Line number | New 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 | } |