tarou yamada
I2CMotor.cpp@2:5b17e7dffb3d, 2015-10-14 (annotated)
- Committer:
- inst
- Date:
- Wed Oct 14 03:50:35 2015 +0000
- Revision:
- 2:5b17e7dffb3d
- Parent:
- 1:46cf8d086b38
Who changed what in which revision?
| User | Revision | Line number | New 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 | 2:5b17e7dffb3d | 11 | if ( I2CDevice::read( ( char* )dutyLimit, ( size_t )2 ) ){ |
| inst | 2:5b17e7dffb3d | 12 | I2CDevice::resetI2C(); |
| inst | 2:5b17e7dffb3d | 13 | } |
| inst | 1:46cf8d086b38 | 14 | //read( ( char* )dutyLimit, ( size_t )2 ); |
| inst | 0:89910534fad4 | 15 | |
| inst | 0:89910534fad4 | 16 | mMinDuty = dutyLimit[ 0 ]; |
| inst | 0:89910534fad4 | 17 | mMinDuty /= 255.0f; |
| inst | 0:89910534fad4 | 18 | |
| inst | 0:89910534fad4 | 19 | mMaxDuty = dutyLimit[ 1 ]; |
| inst | 0:89910534fad4 | 20 | mMaxDuty /= 255.0f; |
| inst | 0:89910534fad4 | 21 | } |
| inst | 0:89910534fad4 | 22 | |
| inst | 0:89910534fad4 | 23 | |
| inst | 2:5b17e7dffb3d | 24 | int I2CMotor::write(){ |
| inst | 0:89910534fad4 | 25 | char trans[] = { |
| inst | 0:89910534fad4 | 26 | static_cast< char >( mActionType ), |
| inst | 0:89910534fad4 | 27 | static_cast< char >( mDuty * 255.0f ) |
| inst | 0:89910534fad4 | 28 | }; |
| inst | 2:5b17e7dffb3d | 29 | return I2CDevice::write( trans, 2 ); |
| inst | 0:89910534fad4 | 30 | } |