Diff: MDDS30_oit.cpp

Revision:

0:670c09433f11

Child:

1:213d63a76a25

Child:

2:00a6ac3ebc03

Child:

3:a64fd9b238c5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MDDS30_oit.cpp	Fri Feb 12 09:02:32 2021 +0000
@@ -0,0 +1,48 @@
+#include "MDDS30_oit.h"
+
+MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
+{
+                 
+                 direction=0;
+                 leftfront=0;
+                 rightfront=0;
+                 leftback=0;
+                 rightback=0;
+                
+                }
+
+void MDDS30oit::lefttire(float speed){
+                speed=speed*63.0f;
+                direction=(word2<<1)|0;
+                leftfront=(direction<<6)|(int)speed;
+                md.putc(leftfront);
+//              r=r|31;
+//                pc.printf("%d\n",leftfront);
+}
+
+void MDDS30oit::righttire(float speed){
+                speed=speed*63.0f;
+                direction=(word<<1)|0;
+                rightfront=(direction<<6)|(int)speed;
+              md.putc(rightfront);
+//              r=r|31;
+//                pc.printf("%d\n",rightfront);
+}
+
+void MDDS30oit::lefttire2(float speed){
+                speed=speed*63.0f;
+                direction=(word2<<1)|1;
+                leftback=(direction<<6)|(int)speed;
+                md.putc(leftback);
+//              r=r|31;
+//                pc.printf("%d\n",leftback);
+}
+
+void MDDS30oit::righttire2(float speed){
+                speed=speed*63.0f;
+                direction=(word<<1)|1;
+                rightback=(direction<<6)|(int)speed;
+                md.putc(rightback);
+//              r=r|31;
+//                pc.printf("%d\n",rightback);
+}
\ No newline at end of file