fujimoto keita
For Rotaryencoder and Motor
Diff: motor.cpp
- Revision:
- 0:b1487fd792c9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp Sat Jul 16 06:38:44 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