Diff: main.cpp

Revision:

0:3dee13ff6060

Child:

1:88c8afd436fc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 15 06:05:50 2020 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+#include "EC.h"
+#define RESOLUTION 500
+#define V_ARRAY_COUNT_MAX 300
+
+Serial pc(USBTX, USBRX);
+DigitalIn Button1(p15);
+DigitalIn Button2(p16);
+DigitalOut clutch(p19);
+PwmOut motord(p25);
+PwmOut motoru(p26);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+Ec1multi ec(p27,p28,RESOLUTION);
+Timer timer;
+
+
+int main() {
+    motoru.period_us(50);
+    Button1.mode(PullUp);
+    Button2.mode(PullUp);
+    clutch=0;//on
+    led1=1;
+    led2=1;
+    led3=1;
+    motoru=0;
+    int motor_state=2;
+    int omega;
+    int read_v_state=0;
+    pc.printf("ready to fire");
+    int count=ec.getCount();
+    float v_array[V_ARRAY_COUNT_MAX][2];
+    int v_array_count=0;
+    while(1){
+        //pc.printf("%d\r\n",count);//確認
+        count=ec.getCount();
+        omega = ec.getOmega();
+        if(Button1==0){
+            led1=1;
+            led2=0;
+            clutch=0;   //on
+            count=0;
+            motoru=0;
+            motor_state=0;
+            pc.printf("stop\r\n");
+        }
+        if(Button2==0){
+            led2=1;
+            led1=0;
+            motoru=0.5;
+            motor_state=1;
+            pc.printf("start loading\r\n");
+        } 
+        if (count>4500&&read_v_state==0){
+            motoru=0;
+            wait(3);
+            clutch=1;   //off
+            motor_state=0;
+            led3=0;
+            pc.printf("fire\r\n");
+            read_v_state=1;
+            timer.reset();
+            timer.start();
+        }
+
+        ec.calOmega();
+        wait_ms(10);
+        if (read_v_state == 1)
+        {
+            if (v_array_count < V_ARRAY_COUNT_MAX)
+            {
+                v_array[v_array_count][0] = omega * 0.02;
+                v_array[v_array_count][1] = timer.read();
+                v_array_count++;
+            }
+            else
+            {
+                pc.printf("time\tspeed\r\n");
+                for (int j = 0; j < V_ARRAY_COUNT_MAX; j++)
+                {
+                    if (v_array[j][0] != 0)
+                    {
+                        pc.printf("%f\t", v_array[j][1]);
+                        pc.printf("%f\r\n", v_array[j][0]);
+                    }
+                }
+                read_v_state = 0;
+            }
+        }
+    }
+}