kusano kiyoshige / accelerator

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

accelerator.cpp@0:e7a61140ec7d, 2017-09-20 (annotated)

Committer:
echo_piyo
Date:
Wed Sep 20 07:06:29 2017 +0000
Revision:
0:e7a61140ec7d
(??)?????????????????encorder.h???????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:e7a61140ec7d 1
echo_piyo 0:e7a61140ec7d 2 #include "accelerator.h"
echo_piyo 0:e7a61140ec7d 3 #include "mbed.h"
echo_piyo 0:e7a61140ec7d 4
echo_piyo 0:e7a61140ec7d 5 void Accelerator::setup(float Acceleration, float time){
echo_piyo 0:e7a61140ec7d 6 a = Acceleration*time;
echo_piyo 0:e7a61140ec7d 7 v = 0;
echo_piyo 0:e7a61140ec7d 8 }
echo_piyo 0:e7a61140ec7d 9
echo_piyo 0:e7a61140ec7d 10 float Accelerator::duty(float target){
echo_piyo 0:e7a61140ec7d 11 if (fabs(target-v) <= a) {
echo_piyo 0:e7a61140ec7d 12 v = target;
echo_piyo 0:e7a61140ec7d 13 } else if (v < target) {
echo_piyo 0:e7a61140ec7d 14 v = v + a;
echo_piyo 0:e7a61140ec7d 15 } else if (v > target) {
echo_piyo 0:e7a61140ec7d 16 v = v - a;
echo_piyo 0:e7a61140ec7d 17 }
echo_piyo 0:e7a61140ec7d 18 return v;
echo_piyo 0:e7a61140ec7d 19 }