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

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Show/hide line numbers motor.cpp Source File

motor.cpp

00001 #include "motor.hpp"
00002 
00003 Motor::Motor(PinName pin_a,PinName pin_b) : motor1(pin_a),motor2(pin_b)
00004 {
00005     motor1.period_us(2048);
00006     motor2.period_us(2048);
00007 }
00008 
00009 void Motor::revolution(double pwm)
00010 {
00011     if(pwm == 0.0)
00012     {
00013         motor1 = 0.0;
00014         motor2 = 0.0;
00015     }
00016     else if(pwm > 0.0)
00017     {
00018         motor1 = pwm;
00019         motor2 = 0.0;
00020     }
00021     else if(pwm < 0.0)
00022     {
00023         motor1 = 0.0;
00024         motor2 = -pwm;
00025     }
00026 }
00027 
00028 void Motor::reset()
00029 {
00030     motor1 = 0.0;
00031     motor2 = 0.0;
00032 }
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