File content as of revision 0:5d1c1999d61d:

#include "Motor_3.h"
#include "mbed.h"
#define HIGH 1
#define LOW 0

extern Serial pc;
Motor_3::Motor_3(PinName dia1,PinName dia2,PinName pwa):
    _dia1(dia1),_dia2(dia2),_pwa(pwa),_pwmout(0)
{
    //init
    DigitalOut pda1(_dia1,LOW);
    DigitalOut pda2(_dia2,LOW);
}

void Motor_3::mv(double speed)
{
//    speed=speed/100*20/1000;
//    pc.printf("speed=%lf\n",speed);

    if(speed>0)
    {
         double temp_pwmout=6*pow(10.0,-10.0)*pow(speed,4.0)-4*pow(10.0,-7.0)*pow(speed,3.0)+3*pow(10.0,-5.0)*pow(speed,2.0)+0.0241*speed+0.0794;//拟合
//         pc.printf("&&&temp_pwmout:%lf\n",temp_pwmout);
        int pwmout=(int)temp_pwmout;
         DigitalOut mydia1(_dia1,HIGH);
         DigitalOut mydia2(_dia2,LOW);
//        _pwmout=pwmout;
        _pwmout=20;
        PwmOut mypwa(_pwa);
        mypwa.period_ms(20);
        mypwa.pulsewidth_ms(_pwmout);
    }
    else if (speed<0)
    {
       
        double temp_pwmout=6*pow(10.0,-10.0)*pow(speed,4.0)-4*pow(10.0,-7.0)*pow(speed,3.0)+3*pow(10.0,-5.0)*pow(speed,2.0)+0.0241*speed+0.0794;//拟合
//        pc.printf("temp_pwmout:%lf\n",temp_pwmout);
        int pwmout=(int)temp_pwmout;        
        speed=abs(speed);
        DigitalOut mydia1(_dia1,LOW);
        DigitalOut mydia2(_dia2,HIGH);
//        _pwmout=pwmout;
        _pwmout=10;
        pc.printf("%d\n",_pwmout);
        PwmOut mypwa(_pwa);
        mypwa.period_ms(20);
        mypwa.pulsewidth_ms(_pwmout); 
    }
    else 
    {
        speed=abs(speed);
        DigitalOut mydia1(_dia1,LOW);
        DigitalOut mydia2(_dia2,LOW);
        _pwmout=0.0;
        PwmOut mypwa(_pwa);
        mypwa.period_ms(20);
        mypwa.pulsewidth(_pwmout); 
    }
        
}