新部内対抗A班
/
circle_war_ver_A_NUCLEO__
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Dependencies: mbed
Fork of
circle_war_ver_A_NUCLEO_
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新部内対抗A班
Diff: speed_control.cpp
- Revision:
- 14:3403ce49a37a
- Parent:
- 11:f8fac9693cd5
--- a/speed_control.cpp Mon Apr 04 09:26:26 2016 +0000
+++ b/speed_control.cpp Tue Apr 05 17:25:09 2016 +0000
@@ -1,3 +1,4 @@
+
#include "mbed.h"
#include <pin_file.h>
#include <speed_control.h>
@@ -11,7 +12,8 @@
PwmOut wheell1(WHl1);//左部
PwmOut wheell2(WHl2);
Ticker rot_cal;
-/*float angle_f=0.0,angle_r=0.0,angle_l=0.0;
+
+float angle_f=0.0,angle_r=0.0,angle_l=0.0;
float angle_old_f=0.0,angle_old_r=0.0,angle_old_l=0.0;
float duty_out_f=0.0,duty_out_r=0.0,duty_out_l=0.0;
float duty_PID_f=0.0,duty_PID_r=0.0,duty_PID_l=0.0;
@@ -27,8 +29,8 @@
const float Kp_r=30.0000f,Kd_r=200.0000f,Ki_r=0.0001f;
const float Kp_l=30.0000f,Kd_l=200.0000f,Ki_l=0.0001f;
const float resolution=1024.0;
-int t=0;*/
-/*
+int t=0;
+
void motor_move()
{
wheelf1=0.1;
@@ -38,7 +40,7 @@
wheell1=0.1;
wheell2=0;
}
-*/
+
////////////////////////////モーターそれぞれのPID制御/////////////////////////