130901現在開発中 BD6211 motor driver Library FIN,RIN にPWM信号を入れて速度制御する
Fork of Motordriver by
Diff: motordriver.cpp
- Revision:
- 4:5fb1296c0d60
- Parent:
- 3:8822f4955035
- Child:
- 5:3110b9209d3c
--- a/motordriver.cpp Fri Nov 19 12:33:38 2010 +0000 +++ b/motordriver.cpp Thu Nov 25 13:31:22 2010 +0000 @@ -59,7 +59,7 @@ _rev = (speed < 0.0); _pwm = 0; temp = 0; - } else { + } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); @@ -106,6 +106,19 @@ return -1; } +float Motor::state(void) { + if ((_fwd == _rev) && (_pwm > 0)) { + return -2;//braking + } else if (_pwm == 0) { + return 2;//coasting + } else if ((_fwd == 0) && (_rev == 1)) { + return -(_pwm);//reversing + } else if ((_fwd == 1) && (_rev == 0)) { + return _pwm;//fowards + } else + return -3;//error +} + /* test code, this demonstrates working motor drivers.