kusano kiyoshige / accelerator

first

Dependents:   17robo_fuzi 17robo_tokyo_kaede

Diff: accelerator.cpp

Revision:
0:e7a61140ec7d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accelerator.cpp	Wed Sep 20 07:06:29 2017 +0000
@@ -0,0 +1,19 @@
+
+#include "accelerator.h"
+#include "mbed.h"
+
+void Accelerator::setup(float Acceleration, float time){
+    a = Acceleration*time;
+    v = 0;
+}
+
+float Accelerator::duty(float target){
+    if (fabs(target-v) <= a) {
+        v = target;
+    } else if (v < target) {
+        v = v + a;
+    } else if (v > target) {
+        v = v - a;
+    }
+    return v;
+}
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