okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp@2:00a6ac3ebc03, 2021-07-18 (annotated)

Committer:
e1320091
Date:
Sun Jul 18 05:12:35 2021 +0000
Revision:
2:00a6ac3ebc03
Parent:
0:670c09433f11 
aaa

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okadaya 0:670c09433f11 1 #include "MDDS30_oit.h"
okadaya 0:670c09433f11 2
okadaya 0:670c09433f11 3 MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
okadaya 0:670c09433f11 4 {
okadaya 0:670c09433f11 5
e1320091 2:00a6ac3ebc03 6 word=1;
e1320091 2:00a6ac3ebc03 7 word2=0;
okadaya 0:670c09433f11 8 direction=0;
okadaya 0:670c09433f11 9 leftfront=0;
okadaya 0:670c09433f11 10 rightfront=0;
okadaya 0:670c09433f11 11 leftback=0;
okadaya 0:670c09433f11 12 rightback=0;
okadaya 0:670c09433f11 13
okadaya 0:670c09433f11 14 }
okadaya 0:670c09433f11 15
okadaya 0:670c09433f11 16 void MDDS30oit::lefttire(float speed){
okadaya 0:670c09433f11 17 speed=speed*63.0f;
okadaya 0:670c09433f11 18 direction=(word2<<1)|0;
okadaya 0:670c09433f11 19 leftfront=(direction<<6)|(int)speed;
okadaya 0:670c09433f11 20 md.putc(leftfront);
okadaya 0:670c09433f11 21 // r=r|31;
okadaya 0:670c09433f11 22 // pc.printf("%d\n",leftfront);
okadaya 0:670c09433f11 23 }
okadaya 0:670c09433f11 24
okadaya 0:670c09433f11 25 void MDDS30oit::righttire(float speed){
okadaya 0:670c09433f11 26 speed=speed*63.0f;
okadaya 0:670c09433f11 27 direction=(word<<1)|0;
okadaya 0:670c09433f11 28 rightfront=(direction<<6)|(int)speed;
okadaya 0:670c09433f11 29 md.putc(rightfront);
okadaya 0:670c09433f11 30 // r=r|31;
okadaya 0:670c09433f11 31 // pc.printf("%d\n",rightfront);
okadaya 0:670c09433f11 32 }
okadaya 0:670c09433f11 33
okadaya 0:670c09433f11 34 void MDDS30oit::lefttire2(float speed){
okadaya 0:670c09433f11 35 speed=speed*63.0f;
okadaya 0:670c09433f11 36 direction=(word2<<1)|1;
okadaya 0:670c09433f11 37 leftback=(direction<<6)|(int)speed;
okadaya 0:670c09433f11 38 md.putc(leftback);
okadaya 0:670c09433f11 39 // r=r|31;
okadaya 0:670c09433f11 40 // pc.printf("%d\n",leftback);
okadaya 0:670c09433f11 41 }
okadaya 0:670c09433f11 42
okadaya 0:670c09433f11 43 void MDDS30oit::righttire2(float speed){
okadaya 0:670c09433f11 44 speed=speed*63.0f;
okadaya 0:670c09433f11 45 direction=(word<<1)|1;
okadaya 0:670c09433f11 46 rightback=(direction<<6)|(int)speed;
okadaya 0:670c09433f11 47 md.putc(rightback);
okadaya 0:670c09433f11 48 // r=r|31;
okadaya 0:670c09433f11 49 // pc.printf("%d\n",rightback);
okadaya 0:670c09433f11 50 }