nakashima Kohei
p
Diff: NK_motor.cpp
- Revision:
- 0:5f9d8f2ef93e
diff -r 000000000000 -r 5f9d8f2ef93e NK_motor.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/NK_motor.cpp Sun Aug 22 13:01:50 2021 +0000
@@ -0,0 +1,33 @@
+#include "NK_motor.hpp"
+
+Nk_motor::Nk_motor(PinName plus,PinName minus,int period){
+ Plus = new PwmOut(plus);
+ Minus = new PwmOut(minus);
+ Plus->period_us(period);
+ Minus->period_us(period);
+ /**Minus=0.0;
+ *Plus=0.0;*/
+}
+Nk_motor::~Nk_motor(){
+}
+void Nk_motor::SetLimit(double max,double min){
+ Max = max;
+ Min = min;
+}
+void Nk_motor::pwmout(double pwm){
+ if(pwm>=Max){
+ Pwm=Max;
+ }
+ else if(pwm<=Min){
+ Pwm=Min;
+ }
+ else{
+ Pwm=pwm;
+ }
+ if(Pwm<0.0){
+ *Minus=Pwm*-1;
+ }
+ else {
+ *Plus=Pwm;
+ }
+}