tarou yamada / I2CMotor

Dependents:   RobotBase

I2CMotor.cpp@1:46cf8d086b38, 2015-08-21 (annotated)

Committer:
inst
Date:
Fri Aug 21 04:51:31 2015 +0000
Revision:
1:46cf8d086b38
Parent:
0:89910534fad4
Child:
2:5b17e7dffb3d
y evol

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:89910534fad4 1 #include "I2CMotor.h"
inst 1:46cf8d086b38 2 #include "I2CDevice.h"
inst 0:89910534fad4 3 #include "mbed.h"
inst 0:89910534fad4 4
inst 1:46cf8d086b38 5 I2CMotor::I2CMotor( char address ) : I2CDevice( address ){
inst 0:89910534fad4 6 mActionType = BRAKE;
inst 0:89910534fad4 7 mDuty = 0;
inst 0:89910534fad4 8
inst 0:89910534fad4 9 char dutyLimit[ 2 ];
inst 0:89910534fad4 10
inst 0:89910534fad4 11 ( ( I2CDevice* )this )->read( ( char* )dutyLimit, ( size_t )2 );
inst 1:46cf8d086b38 12 //read( ( char* )dutyLimit, ( size_t )2 );
inst 0:89910534fad4 13
inst 0:89910534fad4 14 mMinDuty = dutyLimit[ 0 ];
inst 0:89910534fad4 15 mMinDuty /= 255.0f;
inst 0:89910534fad4 16
inst 0:89910534fad4 17 mMaxDuty = dutyLimit[ 1 ];
inst 0:89910534fad4 18 mMaxDuty /= 255.0f;
inst 0:89910534fad4 19 }
inst 0:89910534fad4 20
inst 0:89910534fad4 21
inst 0:89910534fad4 22 void I2CMotor::write(){
inst 0:89910534fad4 23 char trans[] = {
inst 0:89910534fad4 24 static_cast< char >( mActionType ),
inst 0:89910534fad4 25 static_cast< char >( mDuty * 255.0f )
inst 0:89910534fad4 26 };
inst 0:89910534fad4 27 mI2C->write( mAddress, trans, 2 );
inst 0:89910534fad4 28 }