Diff: T_motor.cpp

Revision:

0:e10d08530490

Child:

1:5bd161b83ce0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/T_motor.cpp	Sun Aug 13 02:08:40 2017 +0000
@@ -0,0 +1,57 @@
+#include "mbed.h"
+#include "T_motor.h"
+
+void T_motor::setAddr(int addr_)
+{
+    addr = addr_;
+}
+
+void T_motor::init(char addr,int freq = 100000)
+{
+    setAddr(addr);
+    i2c.frequency(freq);
+    char d = 0;
+    i2c.write((addr+1) << 1,&d,1);
+    wait(0.01);
+}
+
+T_motor::T_motor(PinName sda,PinName scl,int addr):i2c(sda,scl)
+{
+    init(addr);
+}
+
+T_motor::T_motor(I2C& i2c_,int addr):i2c(i2c_)
+{
+    init(addr);
+}
+
+T_motor& T_motor::operator=(float fval)
+{
+    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));
+    }
+    return *this;
+}
+
+bool T_motor::run(char mode,char speed)
+{
+    bool f = 0;
+    char d = speed;
+
+    if(mode == 0 || mode == 1)f = i2c.write((addr+mode) << 1,&d,1);
+    wait(0.01);
+    return f;
+}
+
+bool T_motor::stop()
+{
+    return run(1,0);
+}
+
+bool T_motor::free()
+{
+    return run(0,0);
+}
+