okada yasuhiro / MD_MDDS30_oit

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MDDS30_oit.cpp

Committer:
okadaya
Date:
2021-07-24
Revision:
4:085a9c395959
Parent:
3:a64fd9b238c5
Child:
5:40f33560d8a1

File content as of revision 4:085a9c395959:

#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;
    direction=0;
    leftfront=0;
    rightfront=0;
    leftback=0;
    rightback=0;
                
}

void MDDS30oit::lefttire(float speed){
                speed=speed*127.0f;
                if(speed>0){
                    direction=(word2<<1)|0;
                    }
                else{
                    direction=(word2<<1)|1;
                    speed = -speed;
                    }
                leftfront=(direction<<6)|(int)speed;
                md.putc(leftfront);
//              r=r|31;
//                pc.printf("%d\n",leftfront);
}

void MDDS30oit::righttire(float speed){
                speed=speed*127.0f;
                if(speed>0){
                    direction=(word<<1)|0;
                    }
                else{
                    direction=(word<<1)|1;
                    speed = -speed;
                    }
                rightfront=(direction<<6)|(int)speed;
                md.putc(rightfront);
//              r=r|31;
//                pc.printf("%d\n",rightfront);
}