Diff: MotorControler.cpp

Revision:

5:b46d1e179eb7

Parent:

4:a60052db674c

Child:

6:7955a025adee

--- a/MotorControler.cpp	Tue Feb 02 14:05:05 2021 +0000
+++ b/MotorControler.cpp	Tue Feb 02 14:53:38 2021 +0000
@@ -4,9 +4,51 @@
 {
     disableDriver();
     reverse_direction_ = 0;
+    current_speed_ = 0;
     md_type_ = md_type;
 }
 
+float MotorControler::operator = (float speed) {
+    setSpeed(speed);
+    return current_speed_;
+}
+
+float MotorControler::operator + (float speed) {
+    return current_speed_ + speed;
+}
+
+float MotorControler::operator += (float speed) {
+    setSpeed(current_speed_ + speed);
+    return current_speed_;
+}
+
+float MotorControler::operator - (float speed) {
+    return current_speed_ - speed;
+}
+
+float MotorControler::operator -= (float speed) {
+    setSpeed(current_speed_ - speed);
+    return current_speed_;
+}
+
+float MotorControler::operator * (float val) {
+    return current_speed_ * val;
+}
+
+float MotorControler::operator *= (float val) {
+    setSpeed(current_speed_ * val);
+    return current_speed_;
+}
+
+float MotorControler::operator / (float val) {
+    return current_speed_ / val;
+}
+
+float MotorControler::operator /= (float val) {
+    setSpeed(current_speed_ / val);
+    return current_speed_;
+}
+
 void MotorControler::enableDriver()
 {
     if(md_type_ == POLOLU)
@@ -30,14 +72,17 @@
 void MotorControler::setSpeed(float speed)
 {
     uint8_t reverse = 0;
+    
+    // 最大デューティ比で制限
+    if(speed < -1) speed = -1;
+    else if(speed > 1) speed = 1; 
+    current_speed_ = speed;
+    
     if (speed < 0)
     {
         speed = -speed;  // Make speed a positive quantity
         reverse = 1;  // Preserve the direction
     }
-    // 最大デューティ比で制限
-    if (speed > 1)
-        speed = 1;
         
     PWM_ = speed;
     if (reverse ^ FLIP_MOTOR_DIR ^ reverse_direction_)