For Rotaryencoder and Motor
motor.cpp@0:b1487fd792c9, 2022-07-16 (annotated)
- Committer:
- m2130
- Date:
- Sat Jul 16 06:38:44 2022 +0000
- Revision:
- 0:b1487fd792c9
For Rotaryencoder and Motor;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
m2130 | 0:b1487fd792c9 | 1 | #include "motor.hpp" |
m2130 | 0:b1487fd792c9 | 2 | |
m2130 | 0:b1487fd792c9 | 3 | Motor::Motor(PinName MP, PinName MM): mp(MP), mm(MM){ |
m2130 | 0:b1487fd792c9 | 4 | mp.period_us(2048); |
m2130 | 0:b1487fd792c9 | 5 | mm.period_us(2048); |
m2130 | 0:b1487fd792c9 | 6 | } |
m2130 | 0:b1487fd792c9 | 7 | |
m2130 | 0:b1487fd792c9 | 8 | void Motor::out(double pwm){ |
m2130 | 0:b1487fd792c9 | 9 | if(pwm > 0.0){ |
m2130 | 0:b1487fd792c9 | 10 | mp = pwm > 0.5 ? 0.5 : pwm; |
m2130 | 0:b1487fd792c9 | 11 | mm = 0.0; |
m2130 | 0:b1487fd792c9 | 12 | } |
m2130 | 0:b1487fd792c9 | 13 | else if(pwm == 0){ |
m2130 | 0:b1487fd792c9 | 14 | mp = 0.0; |
m2130 | 0:b1487fd792c9 | 15 | mm = 0.0; |
m2130 | 0:b1487fd792c9 | 16 | } |
m2130 | 0:b1487fd792c9 | 17 | else{ |
m2130 | 0:b1487fd792c9 | 18 | mp = 0.0; |
m2130 | 0:b1487fd792c9 | 19 | mm = -pwm > 0.5 ? 0.5 : -pwm; |
m2130 | 0:b1487fd792c9 | 20 | } |
m2130 | 0:b1487fd792c9 | 21 | } |