fujimoto keita / Motor

モータを回すよ

motor.cpp@0:a773f39e5d7a, 2022-02-02 (annotated)

Committer:
m2130
Date:
Wed Feb 02 11:25:12 2022 +0000
Revision:
0:a773f39e5d7a
moving motors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m2130 0:a773f39e5d7a 1 #include "motor.hpp"
m2130 0:a773f39e5d7a 2
m2130 0:a773f39e5d7a 3 Motor::Motor(PinName MP, PinName MM): mp(MP), mm(MM){
m2130 0:a773f39e5d7a 4 mp.period_us(2048);
m2130 0:a773f39e5d7a 5 mm.period_us(2048);
m2130 0:a773f39e5d7a 6 }
m2130 0:a773f39e5d7a 7
m2130 0:a773f39e5d7a 8 void Motor::out(double pwm){
m2130 0:a773f39e5d7a 9 if(pwm > 0.0){
m2130 0:a773f39e5d7a 10 mp = pwm > 0.5 ? 0.5 : pwm;
m2130 0:a773f39e5d7a 11 mm = 0.0;
m2130 0:a773f39e5d7a 12 }
m2130 0:a773f39e5d7a 13 else if(pwm == 0){
m2130 0:a773f39e5d7a 14 mp = 0.0;
m2130 0:a773f39e5d7a 15 mm = 0.0;
m2130 0:a773f39e5d7a 16 }
m2130 0:a773f39e5d7a 17 else{
m2130 0:a773f39e5d7a 18 mp = 0.0;
m2130 0:a773f39e5d7a 19 mm = -pwm > 0.5 ? 0.5 : -pwm;
m2130 0:a773f39e5d7a 20 }
m2130 0:a773f39e5d7a 21 }