足回り動かすためのライブラリ
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motor.cpp
00001 #include "motor.hpp" 00002 00003 Motor::Motor(PinName plus,PinName minus,int period,int id):ID(id){ 00004 Plus = new PwmOut(plus); 00005 Minus = new PwmOut(minus); 00006 Plus->period_us(period); 00007 Minus->period_us(period); 00008 } 00009 Motor::~Motor(){} 00010 00011 void Motor::setLimit(double max,double min){ 00012 Max = max; 00013 Min = min; 00014 } 00015 00016 void Motor::setPWM(double pwm){ 00017 if(pwm >= Max) Pwm=Max; 00018 else if(pwm<=Min) Pwm=Min; 00019 else Pwm=pwm; 00020 if(Pwm<0.0){ 00021 *Plus=0.0; 00022 *Minus=Pwm*-1; 00023 } 00024 else{ 00025 *Minus=0.0; 00026 *Plus=Pwm; 00027 } 00028 } 00029 00030 double Motor::get_ID() {return ID;}
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