added gy80 dcm
Dependencies: mbed DCM_AHRS_GY80 PID MMA8451Q
Fork of quadCommand by
Diff: quadCommand/motor/motor.cpp
- Revision:
- 56:a550127695b2
- Parent:
- 55:bca9c9e92da6
- Child:
- 57:c29f2dac3903
--- a/quadCommand/motor/motor.cpp Thu Jun 13 01:11:03 2013 +0000 +++ b/quadCommand/motor/motor.cpp Tue Jul 02 21:03:46 2013 +0000 @@ -14,9 +14,10 @@ /*to default safe valuse. */ /*************************************************************************/ -motor::motor( PinName pin ) : _pwm(pin) +motor::motor( PinName pin ) { - _pwm.period( 0.020 ); // Set the period to 20ms. + pwmPin = new PwmOut( pin ); + pwmPin->period( 0.020 ); // Set the period to 20ms. setPulseMin( 0.001150 ); // Set default min pulse. setPulseMax( 0.002 ); // Set default max pulse. setSpeed( 0 ); // Set motor to stopped. @@ -27,7 +28,7 @@ /*the motor based on passed in percent value of speed. */ /*************************************************************************/ -void motor::setSpeed( float value ) +void motor::setSpeed( int value ) { // Is the value to small? if( value - trim < 0 ) // Yup, just set to 0. @@ -42,8 +43,8 @@ currentSpeed = value + trim; // Set the new value. // Calculate the value based on pulseMin, pulseMax and currentSpeed. - pulse = ((pulseMax - pulseMin ) / 100 * currentSpeed ) + pulseMin; - _pwm.pulsewidth( pulse ); // Write the pulse to the pin. + pulse = ((pulseMax - pulseMin) / 100 * currentSpeed) + pulseMin; + pwmPin->pulsewidth( pulse ); // Write the pulse to the pin. } /************************** setPulseMin( float ) *************************/ @@ -77,7 +78,7 @@ /* */ /*************************************************************************/ -float motor::getSpeed() +int motor::getSpeed() { return currentSpeed; } \ No newline at end of file