File content as of revision 0:6db935b161f8:

//CAN通信で受け取った(double)rotate‗1～rotate‗3に対し、実際に回転数制御を行う
#include "mbed.h"
#include "EC.h" //Encoderライブラリをインクルード
#include "SpeedController.h"    //SpeedControlライブラリをインクルード
#define RESOLUTION 512  //分解能
//#define BASIC_SPEED 1   //動確用
//#define TEST_DUTY 0.3   //動確用


Ec4multi EC_1(p15,p16,RESOLUTION);
Ec4multi EC_2(p17,p18,RESOLUTION);
Ec4multi EC_3(p19,p20,RESOLUTION);

SpeedControl motor_1(p21,p22,50,EC_1);
SpeedControl motor_2(p23,p24,50,EC_2);
SpeedControl motor_3(p25,p26,50,EC_3);

Ticker motor_tick;  //角速度計算用ticker
Serial pc(USBTX,USBRX);


int main()
{
    motor_1.period_us(50);
    motor_2.period_us(50);
    motor_3.period_us(50);

    motor_1.setEquation(0.322,0.08,0,0.0100);    //求めたC,Dの値を設定
    motor_2.setEquation(0.0302,0.0755,-0.0241,0.1301);    //求めたC,Dの値を設定
    motor_3.setEquation(0.0302,0.1500,-0.0301,0.2000);    //求めたC,Dの値を設定

    motor_1.setPDparam(0,0.0);  //PIDの係数を設定
    motor_2.setPDparam(0,0.0);  //PIDの係数を設定
    motor_3.setPDparam(0,0.0);  //PIDの係数を設定

    int kai=0;
    double rotate_1=0,rotate_2=0,rotate_3=0;

    while(1) {
        if(rotate_1==0) motor_1.stop();
        else motor_1.Sc(rotate_1);
        if(rotate_2==0) motor_2.stop();
        else motor_2.Sc(rotate_2);
        if(rotate_3==0) motor_3.stop();
        else motor_3.Sc(rotate_3);

        if(kai>=4) {
            //printf("\r\n");
            printf("target:%.2f,%.2f.%.2f  ",rotate_1,rotate_2,rotate_3);
            printf("omega_=%.2f,%.2f,%.2f \r\n",EC_1.getOmega(),EC_2.getOmega(),EC_3.getOmega());
            kai=0;
        }
    }
}