広田 勇斗 / Mbed 2 deprecated Omni_2017_a

Omni_2017_a

Dependencies:   mbed

Fork of Omni_2017_z by 広田 勇斗

Diff: 2017_3_a/MD/MD.cpp

Revision:
2:82c337a18500
Parent:
0:fd933ea5f19d
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/2017_3_a/MD/MD.cpp	Sat Aug 05 06:11:16 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;
+    }
+}