モータを回すよ
Revision 0:a773f39e5d7a, committed 2022-02-02
- Comitter:
- m2130
- Date:
- Wed Feb 02 11:25:12 2022 +0000
- Commit message:
- moving motors
Changed in this revision
motor.cpp | Show annotated file Show diff for this revision Revisions of this file |
motor.hpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r a773f39e5d7a motor.cpp --- /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
diff -r 000000000000 -r a773f39e5d7a motor.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motor.hpp Wed Feb 02 11:25:12 2022 +0000 @@ -0,0 +1,13 @@ +#ifndef Motor_H +#define Motor_H +#include "mbed.h" + +class Motor{ +public: + Motor(PinName MP, PinName MM); + void out(double pwm); +private: + PwmOut mp; + PwmOut mm; +}; +#endif \ No newline at end of file