okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp@5:40f33560d8a1, 2021-07-24 (annotated)

Committer:
okadaya
Date:
Sat Jul 24 11:17:27 2021 +0000
Revision:
5:40f33560d8a1
Parent:
4:085a9c395959 
rebuild

Who changed what in which revision?

UserRevisionLine numberNew contents of line
okadaya 0:670c09433f11 1 #include "MDDS30_oit.h"
okadaya 0:670c09433f11 2
okadaya 4:085a9c395959 3
okadaya 0:670c09433f11 4 MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
okadaya 0:670c09433f11 5 {
okadaya 4:085a9c395959 6 word=1;
okadaya 4:085a9c395959 7 word2=0;
okadaya 4:085a9c395959 8 direction=0;
okadaya 4:085a9c395959 9 leftfront=0;
okadaya 4:085a9c395959 10 rightfront=0;
okadaya 4:085a9c395959 11 leftback=0;
okadaya 4:085a9c395959 12 rightback=0;
okadaya 4:085a9c395959 13 direction=0;
okadaya 4:085a9c395959 14 leftfront=0;
okadaya 4:085a9c395959 15 rightfront=0;
okadaya 4:085a9c395959 16 leftback=0;
okadaya 4:085a9c395959 17 rightback=0;
okadaya 0:670c09433f11 18
okadaya 4:085a9c395959 19 }
okadaya 0:670c09433f11 20
okadaya 0:670c09433f11 21 void MDDS30oit::lefttire(float speed){
okadaya 5:40f33560d8a1 22 speed=speed*63.0f;
okadaya 3:a64fd9b238c5 23 if(speed>0){
okadaya 3:a64fd9b238c5 24 direction=(word2<<1)|0;
okadaya 3:a64fd9b238c5 25 }
okadaya 3:a64fd9b238c5 26 else{
okadaya 3:a64fd9b238c5 27 direction=(word2<<1)|1;
okadaya 4:085a9c395959 28 speed = -speed;
okadaya 3:a64fd9b238c5 29 }
okadaya 0:670c09433f11 30 leftfront=(direction<<6)|(int)speed;
okadaya 0:670c09433f11 31 md.putc(leftfront);
okadaya 0:670c09433f11 32 // r=r|31;
okadaya 0:670c09433f11 33 // pc.printf("%d\n",leftfront);
okadaya 0:670c09433f11 34 }
okadaya 0:670c09433f11 35
okadaya 0:670c09433f11 36 void MDDS30oit::righttire(float speed){
okadaya 5:40f33560d8a1 37 speed=speed*63.0f;
okadaya 3:a64fd9b238c5 38 if(speed>0){
okadaya 3:a64fd9b238c5 39 direction=(word<<1)|0;
okadaya 3:a64fd9b238c5 40 }
okadaya 3:a64fd9b238c5 41 else{
okadaya 3:a64fd9b238c5 42 direction=(word<<1)|1;
okadaya 4:085a9c395959 43 speed = -speed;
okadaya 3:a64fd9b238c5 44 }
okadaya 0:670c09433f11 45 rightfront=(direction<<6)|(int)speed;
okadaya 3:a64fd9b238c5 46 md.putc(rightfront);
okadaya 0:670c09433f11 47 // r=r|31;
okadaya 0:670c09433f11 48 // pc.printf("%d\n",rightfront);
okadaya 0:670c09433f11 49 }