miki sumito / Mbed 2 deprecated four_wheel_omni

四輪オムニの足回りを動かすプログラム

Dependencies:   mbed

Diff: motor/motor.cpp

Revision:
0:39c2bb18192b
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor/motor.cpp	Sat Oct 08 11:13:31 2022 +0000
@@ -0,0 +1,32 @@
+#include "motor.hpp"
+
+Motor::Motor(PinName pin_a,PinName pin_b) : motor1(pin_a),motor2(pin_b)
+{
+    motor1.period_us(2048);
+    motor2.period_us(2048);
+}
+
+void Motor::revolution(double pwm)
+{
+    if(pwm == 0.0)
+    {
+        motor1 = 0.0;
+        motor2 = 0.0;
+    }
+    else if(pwm > 0.0)
+    {
+        motor1 = pwm;
+        motor2 = 0.0;
+    }
+    else if(pwm < 0.0)
+    {
+        motor1 = 0.0;
+        motor2 = -pwm;
+    }
+}
+
+void Motor::reset()
+{
+    motor1 = 0.0;
+    motor2 = 0.0;
+}
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