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my new gear...
Diff: actuator/IMC_motorDrive.cpp
- Revision:
- 8:1ca5a2052b0c
- Parent:
- 2:e7b09385d197
- Child:
- 10:b64f586efb2d
--- a/actuator/IMC_motorDrive.cpp Sat Apr 09 03:39:36 2022 +0000 +++ b/actuator/IMC_motorDrive.cpp Fri Jun 10 08:09:09 2022 +0000 @@ -1,6 +1,6 @@ #include<IMC_motorDrive.hpp> -IMC_motor::IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_):K(K_),Tau(Tau_),dt(dt_),motor(motor_){ +IMC_motor::IMC_motor(Port encoder,int resolution,double wheel_ensyu,Port motor_,double K_,double Tau_,double dt_,bool CW_flag):K(K_),Tau(Tau_),dt(dt_),motor(motor_),cw_flag(CW_flag){ motor_enc.specinit(encoder.pin[0],encoder.pin[1],wheel_ensyu,resolution,4); IMCreset(); } @@ -16,6 +16,9 @@ void IMC_motor::drive(int pwm){ float output_pwm = constrain(pwm,-200,200)/255; + if(cw_flag){ + pwm = -pwm; + } if(!pwm) { DigitalOut Moter1(motor.pin[0],0); DigitalOut Moter2(motor.pin[1],0);