tarou yamada
Diff: I2CMotor.cpp
- Revision:
- 0:89910534fad4
- Child:
- 1:46cf8d086b38
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2CMotor.cpp Thu Jul 02 00:57:59 2015 +0000
@@ -0,0 +1,26 @@
+#include "I2CMotor.h"
+#include "mbed.h"
+
+I2CMotor::I2CMotor( I2C* i2c, char address ) : I2CDevice( i2c, address ){
+ mActionType = BRAKE;
+ mDuty = 0;
+
+ char dutyLimit[ 2 ];
+
+ ( ( I2CDevice* )this )->read( ( char* )dutyLimit, ( size_t )2 );
+
+ mMinDuty = dutyLimit[ 0 ];
+ mMinDuty /= 255.0f;
+
+ mMaxDuty = dutyLimit[ 1 ];
+ mMaxDuty /= 255.0f;
+}
+
+
+void I2CMotor::write(){
+ char trans[] = {
+ static_cast< char >( mActionType ),
+ static_cast< char >( mDuty * 255.0f )
+ };
+ mI2C->write( mAddress, trans, 2 );
+}