Dependents: nhk_2018_undercarry_test04 nhk_2018_undercarry_test08 nhk_2018_undercarry_test09 nhk_2018_undercarry_test10 ... more
Diff: moter.cpp
- Revision:
- 0:43e23ac22a60
- Child:
- 1:c39c41e7caa7
diff -r 000000000000 -r 43e23ac22a60 moter.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/moter.cpp Wed Mar 14 02:53:13 2018 +0000 @@ -0,0 +1,57 @@ +#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; +} \ No newline at end of file