ケンタ ミヤザキ / moter

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moter.cpp

Committer:
kenken0721
Date:
2018-03-14
Revision:
0:43e23ac22a60
Child:
1:c39c41e7caa7

File content as of revision 0:43e23ac22a60:

#include "mbed.h"
#include "moter.h"

void Straight(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
    m_pins[0] = RPower;
    m_pins[1] = RPower;
    m_pins[2] = LPower;
    m_pins[3] = LPower;
    d_pins[0] = 1.0;
    d_pins[1] = 1.0;
    d_pins[2] = 1.0;
    d_pins[3] = 1.0;
}

void Back(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
    m_pins[0] = LPower;
    m_pins[1] = LPower;
    m_pins[2] = RPower;
    m_pins[3] = RPower;
    d_pins[0] = 0.0;
    d_pins[1] = 0.0;
    d_pins[2] = 0.0;
    d_pins[3] = 0.0;
}

void Right(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
    m_pins[0] = LPower;
    m_pins[1] = RPower;
    m_pins[2] = LPower;
    m_pins[3] = RPower;
    d_pins[0] = 0.0;
    d_pins[1] = 1.0;
    d_pins[2] = 1.0;
    d_pins[3] = 0.0;
}

void Left(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins){
    m_pins[0] = RPower;
    m_pins[1] = LPower;
    m_pins[2] = RPower;
    m_pins[3] = LPower;
    d_pins[0] = 1.0;
    d_pins[1] = 0.0;
    d_pins[2] = 0.0;
    d_pins[3] = 1.0;
}

void Stop(PwmOut *m_pins, DigitalOut *d_pins){
    m_pins[0] = 0.0;
    m_pins[1] = 0.0;
    m_pins[2] = 0.0;
    m_pins[3] = 0.0;
    d_pins[0] = 0.0;
    d_pins[1] = 0.0;
    d_pins[2] = 0.0;
    d_pins[3] = 0.0;
}