tarou yamada / I2CMotor

Dependents:   RobotBase

I2CMotor.cpp

Committer:
inst
Date:
2015-08-21
Revision:
1:46cf8d086b38
Parent:
0:89910534fad4
Child:
2:5b17e7dffb3d

File content as of revision 1:46cf8d086b38:

#include "I2CMotor.h"
#include "I2CDevice.h"
#include "mbed.h"

I2CMotor::I2CMotor( char address ) : I2CDevice( address ){
    mActionType = BRAKE;
    mDuty       = 0;
    
    char dutyLimit[ 2 ];
    
    ( ( I2CDevice* )this )->read( ( char* )dutyLimit, ( size_t )2 );
    //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 );
}