Takeuchi Issei / Mbed 2 deprecated 4Omunisleeve3

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Dependencies:   mbed Eigen

Diff: shared/Mbed_MD/Mbed_MD.cpp

Revision:
0:ee7e9405e1c7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/Mbed_MD/Mbed_MD.cpp	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,29 @@
+#include <mbed.h>
+#include <shared/Mbed_MD/Mbed_MD.h>
+
+Mbed_MD::Mbed_MD(PinName pwmPin,PinName dirPin): _pwmOut(pwmPin), _dirOut(dirPin)
+{
+    _pwmOut.period(0.00001);
+}
+
+void Mbed_MD::drive(double duty)
+{
+    if(duty >= 0){   
+        _pwmOut.write(duty);
+        _dirOut = 0;
+    }else
+    if(duty < 0){    
+        _pwmOut.write(-duty);
+        _dirOut = 1;
+    }
+}
+
+void Mbed_MD::brake(double duty)
+{
+}
+
+void Mbed_MD::free()
+{
+    _pwmOut.write(0);
+    _dirOut = 0;
+}
\ No newline at end of file