okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp@1:213d63a76a25, 2021-07-30 (annotated)

Committer:
okadaya
Date:
Fri Jul 30 11:00:46 2021 +0000
Revision:
1:213d63a76a25
Parent:
0:670c09433f11 
dr;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okadaya 0:670c09433f11 1 #include "MDDS30_oit.h"
okadaya 0:670c09433f11 2
okadaya 1:213d63a76a25 3
okadaya 0:670c09433f11 4 MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
okadaya 0:670c09433f11 5 {
okadaya 1:213d63a76a25 6 word=1;
okadaya 1:213d63a76a25 7 word2=0;
okadaya 1:213d63a76a25 8 direction=0;
okadaya 1:213d63a76a25 9 leftfront=0;
okadaya 1:213d63a76a25 10 rightfront=0;
okadaya 1:213d63a76a25 11 leftback=0;
okadaya 1:213d63a76a25 12 rightback=0;
okadaya 1:213d63a76a25 13 direction=0;
okadaya 1:213d63a76a25 14 leftfront=0;
okadaya 1:213d63a76a25 15 rightfront=0;
okadaya 1:213d63a76a25 16 leftback=0;
okadaya 1:213d63a76a25 17 rightback=0;
okadaya 0:670c09433f11 18
okadaya 1:213d63a76a25 19 }
okadaya 0:670c09433f11 20
okadaya 0:670c09433f11 21 void MDDS30oit::lefttire(float speed){
okadaya 1:213d63a76a25 22 speed = speed * 63.0f;
okadaya 1:213d63a76a25 23 if(speed>0){
okadaya 1:213d63a76a25 24 direction=(word2<<1)|0;
okadaya 1:213d63a76a25 25 }
okadaya 1:213d63a76a25 26 else{
okadaya 1:213d63a76a25 27 direction=(word2<<1)|1;
okadaya 1:213d63a76a25 28 speed = -speed;
okadaya 1:213d63a76a25 29 }
okadaya 0:670c09433f11 30 leftfront=(direction<<6)|(int)speed;
okadaya 1:213d63a76a25 31
okadaya 0:670c09433f11 32 md.putc(leftfront);
okadaya 0:670c09433f11 33 // r=r|31;
okadaya 0:670c09433f11 34 // pc.printf("%d\n",leftfront);
okadaya 0:670c09433f11 35 }
okadaya 0:670c09433f11 36
okadaya 0:670c09433f11 37 void MDDS30oit::righttire(float speed){
okadaya 1:213d63a76a25 38 speed = speed * 63.0f;
okadaya 1:213d63a76a25 39 if(speed>0){
okadaya 1:213d63a76a25 40 direction=(word<<1)|0;
okadaya 1:213d63a76a25 41 }
okadaya 1:213d63a76a25 42 else{
okadaya 1:213d63a76a25 43 direction=(word<<1)|1;
okadaya 1:213d63a76a25 44 speed = -speed;
okadaya 1:213d63a76a25 45 }
okadaya 1:213d63a76a25 46 rightfront = (direction<<6)|(int)speed;
okadaya 1:213d63a76a25 47
okadaya 1:213d63a76a25 48 md.putc(rightfront);
okadaya 0:670c09433f11 49 // r=r|31;
okadaya 0:670c09433f11 50 // pc.printf("%d\n",rightfront);
okadaya 0:670c09433f11 51 }