広田 勇斗
ALPHA_A
Dependencies: DataPool MD_PID mbed
Diff: 2017_4/MD/MD.cpp
- Revision:
- 0:e77e7d7bbae0
- Child:
- 3:42fdfd41f96a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/2017_4/MD/MD.cpp Wed Aug 30 05:23:13 2017 +0000
@@ -0,0 +1,20 @@
+#include"mbed.h"
+#include"MD.h"
+MD::MD(PinName pwm,PinName dere):Pwm(pwm),Dere(dere)
+{
+ Pwm.period(0.0001);
+}
+
+void MD::rotate(double duty)
+{
+ if(duty > 0)
+ {
+ Dere = 0;
+ Pwm = duty;
+ }
+ else
+ {
+ Dere = 1;
+ Pwm = -duty;
+ }
+}