yotaro morizumi / Mbed 2 deprecated zoomy_customLibrary

my new gear...

Dependencies:   mbed

Diff: control_theory/nap.cpp

Revision:
3:a9b4b2565a23
Parent:
0:1456b6f84c75
Child:
6:e7f2335456c8
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_theory/nap.cpp	Sun Mar 27 04:51:16 2022 +0000
@@ -0,0 +1,23 @@
+#include <nap.hpp>
+
+NAP::NAP(float nap_time):nap_time_(nap_time){
+    restart();
+}
+
+void NAP::take_a_nap(){
+    while((now_time - prev_time) < (nap_time_*1000)){
+        now_time = nap.read_ms();
+    }
+    prev_time = now_time;
+}
+
+void NAP::setNaptime(float nap_time){
+    nap_time_ = nap_time;    
+}
+
+void NAP::restart(){
+    nap.reset();
+    nap.start();
+    now_time = 0;
+    prev_time = 0;    
+}