takuya ichise / AF_TB6612FNG

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Show/hide line numbers Moter.cpp Source File

Moter.cpp

00001 #include "Moter.h"
00002 
00003 Moter::Moter(PinName pwm, PinName in1, PinName in2):_pwm(pwm), _in1(in1), _in2(in2)
00004 {
00005     _in1 = 0;
00006     _in2 = 0;
00007     _pwm = 0.0;
00008 
00009     _pwm.period(0.001);
00010 }
00011 
00012 float Moter::speed(float speed)
00013 {
00014     if(speed > 0.0) {
00015         _pwm = speed;
00016         _in1 = 1;
00017         _in2 = 0;
00018     } else if(speed < 0.0) {
00019         _pwm = -speed;
00020         _in1 = 0;
00021         _in2 = 1;
00022     } else {
00023         _in1 = 1;
00024         _in2 = 1;
00025     }
00026 
00027     return speed == 0 ? 0 : speed > 0 ? 1 : -1;
00028 }
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