tarou yamada / I2CMotor

Dependents:   RobotBase

I2CMotor.cpp@0:89910534fad4, 2015-07-02 (annotated)

Committer:
inst
Date:
Thu Jul 02 00:57:59 2015 +0000
Revision:
0:89910534fad4
Child:
1:46cf8d086b38
2015 robocon beta

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 0:89910534fad4 1 #include "I2CMotor.h"
inst 0:89910534fad4 2 #include "mbed.h"
inst 0:89910534fad4 3
inst 0:89910534fad4 4 I2CMotor::I2CMotor( I2C* i2c, char address ) : I2CDevice( i2c, address ){
inst 0:89910534fad4 5 mActionType = BRAKE;
inst 0:89910534fad4 6 mDuty = 0;
inst 0:89910534fad4 7
inst 0:89910534fad4 8 char dutyLimit[ 2 ];
inst 0:89910534fad4 9
inst 0:89910534fad4 10 ( ( I2CDevice* )this )->read( ( char* )dutyLimit, ( size_t )2 );
inst 0:89910534fad4 11
inst 0:89910534fad4 12 mMinDuty = dutyLimit[ 0 ];
inst 0:89910534fad4 13 mMinDuty /= 255.0f;
inst 0:89910534fad4 14
inst 0:89910534fad4 15 mMaxDuty = dutyLimit[ 1 ];
inst 0:89910534fad4 16 mMaxDuty /= 255.0f;
inst 0:89910534fad4 17 }
inst 0:89910534fad4 18
inst 0:89910534fad4 19
inst 0:89910534fad4 20 void I2CMotor::write(){
inst 0:89910534fad4 21 char trans[] = {
inst 0:89910534fad4 22 static_cast< char >( mActionType ),
inst 0:89910534fad4 23 static_cast< char >( mDuty * 255.0f )
inst 0:89910534fad4 24 };
inst 0:89910534fad4 25 mI2C->write( mAddress, trans, 2 );
inst 0:89910534fad4 26 }