広田 勇斗 / Mbed 2 deprecated Omni_2017_z

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Dependencies:   MD_PID mbed

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Show/hide line numbers MD.cpp Source File

MD.cpp

00001 #include"mbed.h"
00002 #include"MD.h"
00003 MD::MD(PinName pwm,PinName dere):Pwm(pwm),Dere(dere)
00004 {
00005     Pwm.period(0.0001);
00006 }
00007 
00008 void MD::rotate(double duty)
00009 {
00010     if(duty > 0)
00011     {
00012         Dere = 0;
00013         Pwm = duty;
00014     }
00015     else
00016     {
00017         Dere = 1;
00018         Pwm = -duty;
00019     }
00020 }
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