モータを回すよ

Revision:
0:a773f39e5d7a
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Wed Feb 02 11:25:12 2022 +0000
@@ -0,0 +1,21 @@
+#include "motor.hpp"
+
+Motor::Motor(PinName MP, PinName MM): mp(MP), mm(MM){
+    mp.period_us(2048);
+    mm.period_us(2048);
+}
+
+void Motor::out(double pwm){
+    if(pwm > 0.0){
+        mp = pwm > 0.5 ? 0.5 : pwm;
+        mm = 0.0;
+    }
+    else if(pwm == 0){
+        mp = 0.0;
+        mm = 0.0;
+    }
+    else{
+        mp = 0.0;
+        mm = -pwm > 0.5 ? 0.5 : -pwm;
+    }
+}
\ No newline at end of file