ケンタ ミヤザキ / moter

Dependents:   nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more

moter.cpp@1:c39c41e7caa7, 2018-03-21 (annotated)

Committer:
kenken0721
Date:
Wed Mar 21 06:51:35 2018 +0000
Revision:
1:c39c41e7caa7
Parent:
0:43e23ac22a60
Child:
2:7c276b322cab
?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenken0721 0:43e23ac22a60 1 #include "mbed.h"
kenken0721 0:43e23ac22a60 2 #include "moter.h"
kenken0721 0:43e23ac22a60 3
kenken0721 1:c39c41e7caa7 4 void Straight(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins1 ,DigitalOut *d_pins2){
kenken0721 0:43e23ac22a60 5 m_pins[0] = RPower;
kenken0721 0:43e23ac22a60 6 m_pins[1] = RPower;
kenken0721 0:43e23ac22a60 7 m_pins[2] = LPower;
kenken0721 0:43e23ac22a60 8 m_pins[3] = LPower;
kenken0721 1:c39c41e7caa7 9 for(int i=0;i<4;i++){
kenken0721 1:c39c41e7caa7 10 dpins1[i] = 1.0;
kenken0721 1:c39c41e7caa7 11 dpins2[i] = 0.0;
kenken0721 1:c39c41e7caa7 12 }
kenken0721 0:43e23ac22a60 13 }
kenken0721 0:43e23ac22a60 14
kenken0721 1:c39c41e7caa7 15 void Back(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
kenken0721 0:43e23ac22a60 16 m_pins[0] = LPower;
kenken0721 0:43e23ac22a60 17 m_pins[1] = LPower;
kenken0721 0:43e23ac22a60 18 m_pins[2] = RPower;
kenken0721 0:43e23ac22a60 19 m_pins[3] = RPower;
kenken0721 1:c39c41e7caa7 20 for(int i=0;i<4;i++){
kenken0721 1:c39c41e7caa7 21 d_pins1[i] = 0.0;
kenken0721 1:c39c41e7caa7 22 d_pins2[i] = 1.0;
kenken0721 1:c39c41e7caa7 23 }
kenken0721 0:43e23ac22a60 24 }
kenken0721 0:43e23ac22a60 25
kenken0721 1:c39c41e7caa7 26 void Right(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
kenken0721 0:43e23ac22a60 27 m_pins[0] = LPower;
kenken0721 0:43e23ac22a60 28 m_pins[1] = RPower;
kenken0721 0:43e23ac22a60 29 m_pins[2] = LPower;
kenken0721 0:43e23ac22a60 30 m_pins[3] = RPower;
kenken0721 1:c39c41e7caa7 31 d_pins1[0] = 0.0;
kenken0721 1:c39c41e7caa7 32 d_pins1[1] = 1.0;
kenken0721 1:c39c41e7caa7 33 d_pins1[2] = 1.0;
kenken0721 1:c39c41e7caa7 34 d_pins1[3] = 0.0;
kenken0721 1:c39c41e7caa7 35 d_pins2[0] = 1.0;
kenken0721 1:c39c41e7caa7 36 d_pins2[1] = 0.0;
kenken0721 1:c39c41e7caa7 37 d_pins2[2] = 0.0;
kenken0721 1:c39c41e7caa7 38 d_pins2[3] = 1.0;
kenken0721 1:c39c41e7caa7 39
kenken0721 0:43e23ac22a60 40 }
kenken0721 0:43e23ac22a60 41
kenken0721 1:c39c41e7caa7 42 void Left(float RPower, float LPower, PwmOut *m_pins, DigitalOut *d_pins ,DigitalOut *d_pins2){
kenken0721 0:43e23ac22a60 43 m_pins[0] = RPower;
kenken0721 0:43e23ac22a60 44 m_pins[1] = LPower;
kenken0721 0:43e23ac22a60 45 m_pins[2] = RPower;
kenken0721 0:43e23ac22a60 46 m_pins[3] = LPower;
kenken0721 1:c39c41e7caa7 47 d_pins1[0] = 1.0;
kenken0721 1:c39c41e7caa7 48 d_pins1[1] = 0.0;
kenken0721 1:c39c41e7caa7 49 d_pins1[2] = 0.0;
kenken0721 1:c39c41e7caa7 50 d_pins1[3] = 1.0;
kenken0721 1:c39c41e7caa7 51 d_pins2[0] = 0.0;
kenken0721 1:c39c41e7caa7 52 d_pins2[1] = 1.0;
kenken0721 1:c39c41e7caa7 53 d_pins2[2] = 1.0;
kenken0721 1:c39c41e7caa7 54 d_pins2[3] = 0.0;
kenken0721 1:c39c41e7caa7 55
kenken0721 0:43e23ac22a60 56 }
kenken0721 0:43e23ac22a60 57
kenken0721 1:c39c41e7caa7 58 void Stop(PwmOut *m_pins, DigitalOut *d_pins, DigitalOut *d_pins2){
kenken0721 1:c39c41e7caa7 59 for(int i=0;i<4;i++){
kenken0721 1:c39c41e7caa7 60 m_pins[i] = 0.0;
kenken0721 1:c39c41e7caa7 61 d_pins1[i] = 1.0;
kenken0721 1:c39c41e7caa7 62 d_pins2[i] = 1.0;
kenken0721 1:c39c41e7caa7 63 }
kenken0721 0:43e23ac22a60 64 }