yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

actuator/DCmotor.cpp@22:394337a4205a, 22 months ago (annotated)

Committer:
yootee
Date:
Sat Oct 15 07:52:25 2022 +0000
Revision:
22:394337a4205a
Parent:
2:e7b09385d197 
upgrade

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 2:e7b09385d197 1 #include<DCmotor.hpp>
yootee 2:e7b09385d197 2
yootee 2:e7b09385d197 3 DCmotor::DCmotor(Port motor, float max_pwm, float min_pwm, bool CW_flag):motor_(motor),max_pwm_(max_pwm),min_pwm_(min_pwm),CW_flag_(CW_flag){
yootee 2:e7b09385d197 4 }
yootee 2:e7b09385d197 5
yootee 2:e7b09385d197 6 DCmotor::DCmotor(PinName pin_a, PinName pin_b, float max_pwm, float min_pwm, bool CW_flag):max_pwm_(max_pwm),min_pwm_(min_pwm),CW_flag_(CW_flag){
yootee 2:e7b09385d197 7 motor_.pin[0] = pin_a;
yootee 2:e7b09385d197 8 motor_.pin[1] = pin_b;
yootee 2:e7b09385d197 9 }
yootee 2:e7b09385d197 10
yootee 2:e7b09385d197 11 void DCmotor::drive(float pwm){
yootee 2:e7b09385d197 12 float output_pwm = (abs(pwm) < min_pwm_ ? min_pwm_ : abs(pwm) > max_pwm_ ? max_pwm_ : abs(pwm));
yootee 2:e7b09385d197 13 pwm = (CW_flag_ == false ? -pwm : pwm);
yootee 2:e7b09385d197 14 if(!pwm) {
yootee 2:e7b09385d197 15 DigitalOut Moter1(motor_.pin[0],0);
yootee 2:e7b09385d197 16 DigitalOut Moter2(motor_.pin[1],0);
yootee 2:e7b09385d197 17 } else if(pwm < 0) {
yootee 2:e7b09385d197 18 PwmOut Moter1(motor_.pin[0]);
yootee 2:e7b09385d197 19 Moter1.period_us(256);
yootee 2:e7b09385d197 20 Moter1.write(output_pwm);
yootee 2:e7b09385d197 21 DigitalOut Moter2(motor_.pin[1],0);
yootee 2:e7b09385d197 22 } else {
yootee 2:e7b09385d197 23 DigitalOut Moter1(motor_.pin[0],0);
yootee 2:e7b09385d197 24 PwmOut Moter2(motor_.pin[1]);
yootee 2:e7b09385d197 25 Moter2.period_us(256);
yootee 2:e7b09385d197 26 Moter2.write(output_pwm);
yootee 2:e7b09385d197 27 }
yootee 2:e7b09385d197 28 }