okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp

Committer:
e1320091
Date:
2021-07-18
Revision:
2:00a6ac3ebc03
Parent:
0:670c09433f11

File content as of revision 2:00a6ac3ebc03:

#include "MDDS30_oit.h"

MDDS30oit::MDDS30oit(PinName _txpin, PinName _rxpin) : md(_txpin, _rxpin, 115200)
{
                 
                 word=1;
                 word2=0;
                 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);
}