주 형진 / Mbed 2 deprecated ai_car1

ai_car1

Dependencies:   mbed ai_car ros_lib_melodic

Actuator/Motor.cpp@0:a35213e1e14e, 2021-05-03 (annotated)

Committer:
wngudwls000
Date:
Mon May 03 07:22:52 2021 +0000
Revision:
0:a35213e1e14e
45

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wngudwls000 0:a35213e1e14e 1 #include "Motor.h"
wngudwls000 0:a35213e1e14e 2
wngudwls000 0:a35213e1e14e 3
wngudwls000 0:a35213e1e14e 4 Motor::Motor(PinName IN1, PinName IN2, PinName INH1, PinName INH2)
wngudwls000 0:a35213e1e14e 5 : IN1_(IN1), IN2_(IN2), INH1_(INH1), INH2_(INH2)
wngudwls000 0:a35213e1e14e 6 {
wngudwls000 0:a35213e1e14e 7 INH1_=1;
wngudwls000 0:a35213e1e14e 8 INH2_=1;
wngudwls000 0:a35213e1e14e 9 IN1_.period_us(50);
wngudwls000 0:a35213e1e14e 10 IN2_.period_us(50);
wngudwls000 0:a35213e1e14e 11 }
wngudwls000 0:a35213e1e14e 12
wngudwls000 0:a35213e1e14e 13 void Motor::setSpeed_percent(float percent, char direction)
wngudwls000 0:a35213e1e14e 14 {
wngudwls000 0:a35213e1e14e 15 float duty = percent/100.0;
wngudwls000 0:a35213e1e14e 16 if(duty>1.0) {
wngudwls000 0:a35213e1e14e 17 duty=1.0;
wngudwls000 0:a35213e1e14e 18 } else if(duty<0.0) {
wngudwls000 0:a35213e1e14e 19 duty=0.0;
wngudwls000 0:a35213e1e14e 20 }
wngudwls000 0:a35213e1e14e 21
wngudwls000 0:a35213e1e14e 22 if(direction==FORWARD)
wngudwls000 0:a35213e1e14e 23 {
wngudwls000 0:a35213e1e14e 24 IN1_=duty;
wngudwls000 0:a35213e1e14e 25 IN2_=0;
wngudwls000 0:a35213e1e14e 26 }
wngudwls000 0:a35213e1e14e 27 else if (direction == BACKWARD){
wngudwls000 0:a35213e1e14e 28 IN1_=0;
wngudwls000 0:a35213e1e14e 29 IN2_=duty;
wngudwls000 0:a35213e1e14e 30 }
wngudwls000 0:a35213e1e14e 31 else if (direction == BREAK)
wngudwls000 0:a35213e1e14e 32 {
wngudwls000 0:a35213e1e14e 33 IN1_=1;
wngudwls000 0:a35213e1e14e 34 IN2_=1;
wngudwls000 0:a35213e1e14e 35 }
wngudwls000 0:a35213e1e14e 36 else
wngudwls000 0:a35213e1e14e 37 {
wngudwls000 0:a35213e1e14e 38 IN1_=0;
wngudwls000 0:a35213e1e14e 39 IN2_=0;
wngudwls000 0:a35213e1e14e 40 }
wngudwls000 0:a35213e1e14e 41 }