kusano kiyoshige / accelerator

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

accelerator.cpp

Committer:
echo_piyo
Date:
2017-09-20
Revision:
0:e7a61140ec7d

File content as of revision 0:e7a61140ec7d:


#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;
}