nakashima Kohei / NK_mbedsdffs

p

NK_motor.cpp@0:5f9d8f2ef93e, 2021-08-22 (annotated)

Committer:
hamohamo
Date:
Sun Aug 22 13:01:50 2021 +0000
Revision:
0:5f9d8f2ef93e
pp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:5f9d8f2ef93e 1 #include "NK_motor.hpp"
hamohamo 0:5f9d8f2ef93e 2
hamohamo 0:5f9d8f2ef93e 3 Nk_motor::Nk_motor(PinName plus,PinName minus,int period){
hamohamo 0:5f9d8f2ef93e 4 Plus = new PwmOut(plus);
hamohamo 0:5f9d8f2ef93e 5 Minus = new PwmOut(minus);
hamohamo 0:5f9d8f2ef93e 6 Plus->period_us(period);
hamohamo 0:5f9d8f2ef93e 7 Minus->period_us(period);
hamohamo 0:5f9d8f2ef93e 8 /**Minus=0.0;
hamohamo 0:5f9d8f2ef93e 9 *Plus=0.0;*/
hamohamo 0:5f9d8f2ef93e 10 }
hamohamo 0:5f9d8f2ef93e 11 Nk_motor::~Nk_motor(){
hamohamo 0:5f9d8f2ef93e 12 }
hamohamo 0:5f9d8f2ef93e 13 void Nk_motor::SetLimit(double max,double min){
hamohamo 0:5f9d8f2ef93e 14 Max = max;
hamohamo 0:5f9d8f2ef93e 15 Min = min;
hamohamo 0:5f9d8f2ef93e 16 }
hamohamo 0:5f9d8f2ef93e 17 void Nk_motor::pwmout(double pwm){
hamohamo 0:5f9d8f2ef93e 18 if(pwm>=Max){
hamohamo 0:5f9d8f2ef93e 19 Pwm=Max;
hamohamo 0:5f9d8f2ef93e 20 }
hamohamo 0:5f9d8f2ef93e 21 else if(pwm<=Min){
hamohamo 0:5f9d8f2ef93e 22 Pwm=Min;
hamohamo 0:5f9d8f2ef93e 23 }
hamohamo 0:5f9d8f2ef93e 24 else{
hamohamo 0:5f9d8f2ef93e 25 Pwm=pwm;
hamohamo 0:5f9d8f2ef93e 26 }
hamohamo 0:5f9d8f2ef93e 27 if(Pwm<0.0){
hamohamo 0:5f9d8f2ef93e 28 *Minus=Pwm*-1;
hamohamo 0:5f9d8f2ef93e 29 }
hamohamo 0:5f9d8f2ef93e 30 else {
hamohamo 0:5f9d8f2ef93e 31 *Plus=Pwm;
hamohamo 0:5f9d8f2ef93e 32 }
hamohamo 0:5f9d8f2ef93e 33 }