広田 勇斗
/
BETA_A
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Dependencies: DataPool MD_PID mbed
Diff: 2017_3_h/MD/MD.cpp
- Revision:
- 0:b8fa7a019f5d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/2017_3_h/MD/MD.cpp Fri Aug 25 05:10:49 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;
+ }
+}
\ No newline at end of file