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

motor/motor.cpp@0:39c2bb18192b, 22 months ago (annotated)

Committer:
m_smt
Date:
Sat Oct 08 11:13:31 2022 +0000
Revision:
0:39c2bb18192b
move four wheel omni

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m_smt 0:39c2bb18192b 1 #include "motor.hpp"
m_smt 0:39c2bb18192b 2
m_smt 0:39c2bb18192b 3 Motor::Motor(PinName pin_a,PinName pin_b) : motor1(pin_a),motor2(pin_b)
m_smt 0:39c2bb18192b 4 {
m_smt 0:39c2bb18192b 5 motor1.period_us(2048);
m_smt 0:39c2bb18192b 6 motor2.period_us(2048);
m_smt 0:39c2bb18192b 7 }
m_smt 0:39c2bb18192b 8
m_smt 0:39c2bb18192b 9 void Motor::revolution(double pwm)
m_smt 0:39c2bb18192b 10 {
m_smt 0:39c2bb18192b 11 if(pwm == 0.0)
m_smt 0:39c2bb18192b 12 {
m_smt 0:39c2bb18192b 13 motor1 = 0.0;
m_smt 0:39c2bb18192b 14 motor2 = 0.0;
m_smt 0:39c2bb18192b 15 }
m_smt 0:39c2bb18192b 16 else if(pwm > 0.0)
m_smt 0:39c2bb18192b 17 {
m_smt 0:39c2bb18192b 18 motor1 = pwm;
m_smt 0:39c2bb18192b 19 motor2 = 0.0;
m_smt 0:39c2bb18192b 20 }
m_smt 0:39c2bb18192b 21 else if(pwm < 0.0)
m_smt 0:39c2bb18192b 22 {
m_smt 0:39c2bb18192b 23 motor1 = 0.0;
m_smt 0:39c2bb18192b 24 motor2 = -pwm;
m_smt 0:39c2bb18192b 25 }
m_smt 0:39c2bb18192b 26 }
m_smt 0:39c2bb18192b 27
m_smt 0:39c2bb18192b 28 void Motor::reset()
m_smt 0:39c2bb18192b 29 {
m_smt 0:39c2bb18192b 30 motor1 = 0.0;
m_smt 0:39c2bb18192b 31 motor2 = 0.0;
m_smt 0:39c2bb18192b 32 }