Diff: control_motors.cpp

Revision:

4:99a67256b765

Parent:

2:2f187e09bdb0

Child:

5:70c9f6045f2d

--- a/control_motors.cpp	Sun Feb 15 01:02:58 2015 +0000
+++ b/control_motors.cpp	Sun Feb 15 02:55:36 2015 +0000
@@ -71,12 +71,39 @@
         
         // TODO
         // モーター制御の処理
-        
+            if(speed > 0){
+            mPwmMotorR = (float)speed/255;
+            mDoutMotorR1 = 1;
+            mDoutMotorR2 = 0;
+        }else if (speed < 0){
+            mPwmMotorR = -(float)speed/255;
+            mDoutMotorR1 = 0;
+            mDoutMotorR2 = 1;
+        }else{
+            mPwmMotorR = 0;
+            mDoutMotorR1 = 0;
+            mDoutMotorR2 = 0;
+        }
+
     }else if(motor_id == MOTOR_LEFT){
         printf("motor left speed = %d\n", speed);
         
         // TODO
         // モーター制御の処理
+       if(speed > 0){
+            mPwmMotorL = (float)speed/255;
+            mDoutMotorL1 = 1;
+            mDoutMotorL2 = 0;
+        }else if (speed < 0){
+            mPwmMotorL = -(float)speed/255;
+            mDoutMotorL1 = 0;
+            mDoutMotorL2 = 1;
+        }else{
+            mPwmMotorL = 0.0;
+            mDoutMotorL1 = 0;
+            mDoutMotorL2 = 0;
+        }
+
     }
 }
 
@@ -86,6 +113,10 @@
 
     // TODO
     // モーター制御の処理
+    mPwmMotorTail = 0.8;
+    mDoutMotorTail1 = 1;
+    mDoutMotorTail2 = 0;
+
 }
 
     
@@ -94,4 +125,8 @@
 
     // TODO
     // モーター制御の処理
+    mPwmMotorTail = 0.0;
+    mDoutMotorTail1 = 0;
+    mDoutMotorTail2 = 0;
+
 }