miki sumito
/
four_wheel_omni
四輪オムニの足回りを動かすプログラム
motor/motor.cpp
- Committer:
- m_smt
- Date:
- 22 months ago
- Revision:
- 0:39c2bb18192b
File content as of revision 0:39c2bb18192b:
#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; }