okada yasuhiro / MD_MDDS30_oit

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

MDDS30_oit.cpp

Committer:
okadaya
Date:
2021-07-22
Revision:
3:a64fd9b238c5
Parent:
0:670c09433f11
Child:
4:085a9c395959

File content as of revision 3:a64fd9b238c5:

#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;
                if(speed>0){
                    direction=(word2<<1)|0;
                    }
                else{
                    direction=(word2<<1)|1;
                    }
                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;
                if(speed>0){
                    direction=(word<<1)|0;
                    }
                else{
                    direction=(word<<1)|1;
                    }
                rightfront=(direction<<6)|(int)speed;
                md.putc(rightfront);
//              r=r|31;
//                pc.printf("%d\n",rightfront);
}