yotaro morizumi
/
zoomy_customLibrary
my new gear...
Diff: actuator/IMC_motorDrive.cpp
- Revision:
- 10:b64f586efb2d
- Parent:
- 8:1ca5a2052b0c
- Child:
- 21:72dcbbfeb5d8
diff -r 1ca5a2052b0c -r b64f586efb2d actuator/IMC_motorDrive.cpp --- a/actuator/IMC_motorDrive.cpp Fri Jun 10 08:09:09 2022 +0000 +++ b/actuator/IMC_motorDrive.cpp Fri Jun 10 08:54:32 2022 +0000 @@ -6,6 +6,9 @@ } void IMC_motor::IMCdrive(double target){ + if(cw_flag){ + target = -target; + } drive((int)imc_out(target)); } @@ -16,9 +19,6 @@ 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);