ken fuji / T_motor

田中くんのモタドラを制御する石本さんのやつ

Diff: T_motor.cpp

Revision:
1:5bd161b83ce0
Parent:
0:e10d08530490
Child:
2:f82a7c0b697f
--- a/T_motor.cpp	Sun Aug 13 02:08:40 2017 +0000
+++ b/T_motor.cpp	Sun Aug 13 03:48:22 2017 +0000
@@ -25,7 +25,7 @@
     init(addr);
 }
 
-T_motor& T_motor::operator=(float fval)
+T_motor& T_motor::operator=(float fval)// -1 <= fval <= 1
 {
     if(fabs(fval) < 0.1f)free();
     else {
@@ -35,6 +35,15 @@
     return *this;
 }
 
+void T_motor::control(float fval)//copy from operator
+{
+    if(fabs(fval) < 0.1f)free();
+    else {
+        if(fval < 0) run(1,char(-1*fval*255));
+        else if(fval > 0) run(0,char(fval*255));
+    }
+}
+
 bool T_motor::run(char mode,char speed)
 {
     bool f = 0;