Yusuke Aihara / CustomExplorerRobot

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Dependents:   CustomExplorerRobot_test

Diff: BD6212/BD6212.cpp

Revision:
0:ad4667fc5a76
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6212/BD6212.cpp	Sat Feb 27 09:20:21 2016 +0000
@@ -0,0 +1,36 @@
+#include "mbed.h"
+#include "BD6212.h"
+
+BD6212::BD6212(PinName fwd, PinName rev) : _fwd(fwd), _rev(rev){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    _fwd = 0.0f;
+    _rev = 0.0f;
+    
+    bspeed = 0.0f;
+}
+
+void BD6212::speed(float speed){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    if(speed != bspeed){
+        if(speed > 0.0f){
+            _fwd = speed;
+            _rev = 0.0f;
+        }else if(speed < 0.0f){
+            _fwd = 0.0f;
+            _rev = -speed;
+        }else{
+            _fwd = 1.0f;
+            _rev = 1.0f;
+        }
+        bspeed = speed;
+    }
+}
+
+void BD6212::coast(void){
+    _fwd.period_us(20);
+    _rev.period_us(20);
+    _fwd = 0.0f;
+    _rev = 0.0f;
+}