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?
User | Revision | Line number | New 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 | } |