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Engine.cpp
- Committer:
- jguzik
- Date:
- 2016-07-19
- Revision:
- 2:d1dec651ff13
- Parent:
- 0:f3a3f80e3202
File content as of revision 2:d1dec651ff13:
#include "Engine.h" // przelicza procenty na pwn: // - wartosc poczatkowa - 0.2377, // - prog - 0.0077 float Engine::getPwm(float speed){ if (speed == 0) return 0; else if (speed > 0) return 0.2377f + (fabs(speed) - 1) * 0.0077f; else return 0.406f + (fabs(speed) - 1) * 0.006f; } void Engine::move(int speed){ if (speed > 100) speed =100; else if (speed < -100) speed = -100; if (speed == 0){ //soft stop _fwd = 0; _rev = 0; return; } if (speed < 0){ _fwd = 0; _rev = 1; } else{ _fwd = 1; _rev = 0; } _pwm = getPwm(speed); } //hard stop void Engine::stop(){ _pwm = 0; }