okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp@0:670c09433f11, 2021-02-12 (annotated)

Committer:
okadaya
Date:
Fri Feb 12 09:02:32 2021 +0000
Revision:
0:670c09433f11
Child:
1:213d63a76a25
Child:
2:00a6ac3ebc03
Child:
3:a64fd9b238c5
prototype

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