Diff: actuator/DCmotor.cpp

Revision:

2:e7b09385d197

diff -r 744e1f66d5dc -r e7b09385d197 actuator/DCmotor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actuator/DCmotor.cpp	Sun Mar 27 04:39:16 2022 +0000
@@ -0,0 +1,28 @@
+#include<DCmotor.hpp>
+
+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){
+}
+
+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){
+    motor_.pin[0] = pin_a;
+    motor_.pin[1] = pin_b;
+}
+
+void DCmotor::drive(float pwm){
+    float output_pwm = (abs(pwm) < min_pwm_ ? min_pwm_ : abs(pwm) > max_pwm_ ? max_pwm_ : abs(pwm));
+    pwm = (CW_flag_ == false ? -pwm : pwm);
+    if(!pwm) {
+        DigitalOut Moter1(motor_.pin[0],0);
+        DigitalOut Moter2(motor_.pin[1],0);
+    } else if(pwm < 0) {
+        PwmOut Moter1(motor_.pin[0]);
+        Moter1.period_us(256);
+        Moter1.write(output_pwm);
+        DigitalOut Moter2(motor_.pin[1],0);
+    } else {
+        DigitalOut Moter1(motor_.pin[0],0);
+        PwmOut Moter2(motor_.pin[1]);
+        Moter2.period_us(256);
+        Moter2.write(output_pwm);
+    }
+}