Revision 2:d7cd4deef7be, committed 2015-12-15

Comitter:

BAC

Date:

Tue Dec 15 02:42:41 2015 +0000

Parent:

0:f15aa1706e16

Commit message:

the newest

Changed in this revision

--- a/main.cpp	Mon Dec 14 15:03:32 2015 +0000
+++ b/main.cpp	Tue Dec 15 02:42:41 2015 +0000
@@ -8,7 +8,7 @@
 
 unsigned int i = 100;                   // Data index
 unsigned int j = 0;
-unsigned int num = 72;
+unsigned int num = 37;
 float v1,v2,v3,v1avg,v2avg,v3avg;
 Serial UART(SERIAL_TX, SERIAL_RX);      // Define object "UART" as Serial type
 MotorDriver Mset1;                      // Initial PWM period || arg(Link1,Link2,Link3,Link4)

--- a/pwm.cpp	Mon Dec 14 15:03:32 2015 +0000
+++ b/pwm.cpp	Tue Dec 15 02:42:41 2015 +0000
@@ -11,31 +11,169 @@
     M3.pulsewidth_us(2000);
     wait(2.0f);
     // first move
-    for(i=0;i<1000;i++)
+ // first move
+    for(i=0;i<500;i++)
     {
-        M1.pulsewidth_us(1900 - (unsigned int)(i*0.853));
+        M1.pulsewidth_us(1900 - (unsigned int)(i*1.75));
         printf("%d",1900 - (unsigned int)(i*0.853));
     }
+    wait(2.0);
+    i=0;
     for(i=0;i<1000;i++)
     {
-        M3.pulsewidth_us(2000 - (unsigned int)(i*0.626));
+        M3.pulsewidth_us(2000 - (unsigned int)(i*0.653));
+        printf("%d",2000 - (unsigned int)(i*0.653));
     }
-    M2.pulsewidth_us(591);
-    wait(2.0f);
     
     // Look up table
     
-    du1[0] = 1000;
-    du2[0] = 500;
-    du3[0] = 200;
+    du1[0] = 1025;
+    du2[0] = 591;
+    du3[0] = 1347;
+    
+    du1[1] = 1005;
+    du2[1] = 626;
+    du3[1] = 1371;
+    
+    du1[2] = 991;
+    du2[2] = 630;
+    du3[2] = 1417;
+    
+    du1[3] = 985;
+    du2[3] = 636;
+    du3[3] = 1430;
+    
+    du1[4] = 963;
+    du2[4] = 642;
+    du3[4] = 1445;
+    
+    du1[5] = 953;
+    du2[5] = 680;
+    du3[5] = 1461;
+    
+    du1[6] = 947;
+    du2[6] = 688;
+    du3[6] = 1461;
+    
+    du1[7] = 935;
+    du2[7] = 710;
+    du3[7] = 1467;
+    
+    du1[8] = 913;
+    du2[8] = 728;
+    du3[8] = 1485;
+    
+    du1[9] = 909;
+    du2[9] = 750;
+    du3[9] = 1503;
+    
+    du1[10] = 913;
+    du2[10] = 774;
+    du3[10] = 1519;
+    
+    du1[11] = 977;
+    du2[11] = 792;
+    du3[11] = 1570;
+    
+    du1[12] = 999;
+    du2[12] = 828;
+    du3[12] = 1545;
+    
+    du1[13] = 999;
+    du2[13] = 855;
+    du3[13] = 1570;
+    
+    du1[14] = 1023;
+    du2[14] = 863;
+    du3[14] = 1592;
+    
+    du1[15] = 1045;
+    du2[15] = 875;
+    du3[15] = 1590;
+    
+    du1[16] = 1071;
+    du2[16] = 890;
+    du3[16] = 1605;
+    
+    du1[17] = 1085;
+    du2[17] = 898;
+    du3[17] = 1590;
     
-    du1[3] = 10000;
-    du2[3] = 500;
-    du3[3] = 200;
+    du1[18] = 1109;
+    du2[18] = 910;
+    du3[18] = 1590;
+    
+    du1[19] = 1151;
+    du2[19] = 930;
+    du3[19] = 1611;
+    
+    du1[20] = 1163;
+    du2[20] = 906;
+    du3[20] = 1575;
+    
+    du1[21] = 1169;
+    du2[21] = 864;
+    du3[21] = 1533;
+    
+    du1[22] = 1173;
+    du2[22] = 794;
+    du3[22] = 1519;
+    
+    du1[23] = 1189;
+    du2[23] = 790;
+    du3[23] = 1511;
+    
+    du1[24] = 1215;
+    du2[24] = 776;
+    du3[24] = 1479;
+    
+    du1[25] = 1219;
+    du2[25] = 752;
+    du3[25] = 1455;
+    
+    du1[26] = 1223;
+    du2[26] = 732;
+    du3[26] = 1429;
     
-    du1[4] = 10000;
-    du2[3] = 500;
-    du3[3] = 200;
+    du1[27] = 1225;
+    du2[27] = 704;
+    du3[27] = 1405;
+    
+    du1[28] = 1210;
+    du2[28] = 676;
+    du3[28] = 1385;
+    
+    du1[29] = 1180;
+    du2[29] = 650;
+    du3[29] = 1370;
+    
+    du1[30] = 1156;
+    du2[30] = 614;
+    du3[30] = 1344;
+    
+    du1[31] = 1122;
+    du2[31] = 596;
+    du3[31] = 1334;
+    
+    du1[32] = 1104;
+    du2[32] = 586;
+    du3[32] = 1330;
+    
+    du1[33] = 1090;
+    du2[33] = 566;
+    du3[33] = 1328;
+    
+    du1[34] = 1064;
+    du2[34] = 560;
+    du3[34] = 1324;
+    
+    du1[35] = 1048;
+    du2[35] = 558;
+    du3[35] = 1320;
+    
+    du1[36] = 1016;
+    du2[36] = 580;
+    du3[36] = 1330;
 
 }