ロボステ6期 / Mbed 2 deprecated PR_test_3w

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Dependencies:   mbed SpeedController

Files at this revision

API Documentation at this revision

Revision 3:e7807f60c9bf, committed 2019-11-09

Comitter:
aoikoizumi
Date:
Sat Nov 09 03:35:33 2019 +0000
Parent:
2:c4e456559941
Commit message:
2019 11 9 ;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Nov 08 06:36:17 2019 +0000
+++ b/main.cpp	Sat Nov 09 03:35:33 2019 +0000
@@ -3,7 +3,7 @@
 #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 BASIC_SPEED 40   //動確用
 //#define TEST_DUTY 0.3   //動確用
 
 
@@ -21,30 +21,31 @@
 
 int j=0;
 double rotate_1=0,rotate_2=0;
-double motor1_omega[1000]={},motor2_omega[1000]={},time_when[1000];
-int motor1_count[1000]={},motor2_count[1000]={};
+double motor1_omega[1000]= {},motor2_omega[1000]= {},time_when[1000];
+int motor1_count[1000]= {},motor2_count[1000]= {};
 
 void CalOmega()
 {
     motor1_count[j]=EC_1.getCount();
+    motor2_count[j]=EC_2.getCount();
+    EC_1.calOmega();
+    EC_2.calOmega();
     motor1_omega[j]=EC_1.getOmega();
-    motor2_count[j]=EC_2.getCount();
     motor2_omega[j]=EC_2.getOmega();
 //    time_when[j]=EC_1.timer_.read();
     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);
-    EC_1.calOmega();
-    EC_2.calOmega();
+
     j++;
 }
 int main()
 {
     motor_1.period_us(50);
     motor_2.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_1.setEquation(0.0322,0.08,0.0322,0.0800);    //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_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_tick.attach(&CalOmega,0.05);
@@ -58,7 +59,19 @@
                     pc.printf("%f,%f    ",motor1_omega[i],motor2_omega[i]);
                     pc.printf("%d,%d\r\n",motor1_count[i],motor2_count[i]);
                 }
-            }
+            } else if(sel=='i') {
+                pc.printf("fffff\r\n");
+                rotate_1=1*BASIC_SPEED;
+                rotate_2=1*BASIC_SPEED;
+            } else if(sel=='m') {
+                pc.printf("bbbbb\r\n");
+                rotate_1=-1*BASIC_SPEED;
+                rotate_2=-1*BASIC_SPEED;
+            }else if(sel=='s') {
+                pc.printf("sssss\r\n");
+                rotate_1=0;
+                rotate_2=0;
+        }
         }
     }
 }
\ No newline at end of file