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Dependencies:   mbed Encoder

main.cpp@1:9732c03b0de4, 2019-11-14 (annotated)

Committer:
maxnagazumi
Date:
Thu Nov 14 07:22:16 2019 +0000
Revision:
1:9732c03b0de4
Parent:
0:ef259ff25554
Child:
2:d213999ee436
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maxnagazumi 0:ef259ff25554 1 #include "mbed.h"
maxnagazumi 0:ef259ff25554 2 #include "EC.h" //Encoderライブラリをインクルード
maxnagazumi 0:ef259ff25554 3 #include "SpeedController.h" //SpeedControlライブラリをインクルード
maxnagazumi 0:ef259ff25554 4 #define RESOLUTION 500
maxnagazumi 0:ef259ff25554 5
maxnagazumi 1:9732c03b0de4 6 //PwmOut f(PA_9);
maxnagazumi 1:9732c03b0de4 7 //PwmOut b(PA_10);
maxnagazumi 0:ef259ff25554 8 DigitalIn s(PB_7,PullUp);
maxnagazumi 1:9732c03b0de4 9 DigitalOut out1(PA_8);
maxnagazumi 1:9732c03b0de4 10 Ticker ticker;
maxnagazumi 1:9732c03b0de4 11 Ec4multi EC(PA_6,PA_7,RESOLUTION);
maxnagazumi 1:9732c03b0de4 12 InterruptIn X(PA_4);
maxnagazumi 1:9732c03b0de4 13 SpeedControl motor(PA_10,PA_9,50,EC);
maxnagazumi 0:ef259ff25554 14
maxnagazumi 1:9732c03b0de4 15 void calOmega()
maxnagazumi 1:9732c03b0de4 16 {
maxnagazumi 1:9732c03b0de4 17 EC.calOmega();
maxnagazumi 1:9732c03b0de4 18 }
maxnagazumi 1:9732c03b0de4 19
maxnagazumi 1:9732c03b0de4 20 int X_count=0;
maxnagazumi 1:9732c03b0de4 21
maxnagazumi 1:9732c03b0de4 22 void Xcount()
maxnagazumi 1:9732c03b0de4 23 {
maxnagazumi 1:9732c03b0de4 24 X_count++;
maxnagazumi 1:9732c03b0de4 25 }
maxnagazumi 1:9732c03b0de4 26 /*void shot()
maxnagazumi 1:9732c03b0de4 27 {
maxnagazumi 1:9732c03b0de4 28 out1 = 1;
maxnagazumi 1:9732c03b0de4 29 }
maxnagazumi 1:9732c03b0de4 30 */
maxnagazumi 0:ef259ff25554 31 int main()
maxnagazumi 0:ef259ff25554 32 {
maxnagazumi 1:9732c03b0de4 33 out1 =0;
maxnagazumi 1:9732c03b0de4 34 motor.setPDparam(0.01,0.01);
maxnagazumi 1:9732c03b0de4 35 motor.setEquation(0.005,0.01,0.023,0.0);
maxnagazumi 1:9732c03b0de4 36 /*
maxnagazumi 1:9732c03b0de4 37 b.setPDparam(double kp,double kd);
maxnagazumi 1:9732c03b0de4 38 b.setEquation(double cf,double df,double cb,double db);
maxnagazumi 1:9732c03b0de4 39 */
maxnagazumi 1:9732c03b0de4 40 //int i=0;
maxnagazumi 1:9732c03b0de4 41 double a=0,r=0.4,v=0;//rで半径指定 a*r=v
maxnagazumi 1:9732c03b0de4 42 X.rise(&Xcount);
maxnagazumi 1:9732c03b0de4 43 ticker.attach(&calOmega,0.05);
maxnagazumi 1:9732c03b0de4 44 printf("%d\n",s.read());
maxnagazumi 1:9732c03b0de4 45 motor.setDutyLimit(0.6);
maxnagazumi 1:9732c03b0de4 46 printf("Omega V(m/s)");
maxnagazumi 0:ef259ff25554 47 while(1) {
maxnagazumi 1:9732c03b0de4 48 if(s.read()==1) {
maxnagazumi 1:9732c03b0de4 49 while(1) {
maxnagazumi 1:9732c03b0de4 50 a=EC.getOmega();
maxnagazumi 1:9732c03b0de4 51 v=a*r;
maxnagazumi 1:9732c03b0de4 52 printf("%f %f %d\r\n",a,v,X_count);
maxnagazumi 1:9732c03b0de4 53 motor.Sc(10.5);
maxnagazumi 1:9732c03b0de4 54 motor.setDutyLimit(0.4);
maxnagazumi 1:9732c03b0de4 55 /*if(a>16.9||a<17.1) {
maxnagazumi 1:9732c03b0de4 56 i++;
maxnagazumi 1:9732c03b0de4 57 }*/
maxnagazumi 1:9732c03b0de4 58 /*if(X_count==6) {
maxnagazumi 1:9732c03b0de4 59 out1 =1;
maxnagazumi 1:9732c03b0de4 60 printf("shot\n");break;
maxnagazumi 1:9732c03b0de4 61 }
maxnagazumi 1:9732c03b0de4 62 */
maxnagazumi 1:9732c03b0de4 63
maxnagazumi 1:9732c03b0de4 64 if(s.read()==0)break;
maxnagazumi 1:9732c03b0de4 65 }
maxnagazumi 1:9732c03b0de4 66 }
maxnagazumi 1:9732c03b0de4 67 motor.stop();
maxnagazumi 1:9732c03b0de4 68 motor.reset();
maxnagazumi 0:ef259ff25554 69 if(s.read() ==0)break;
maxnagazumi 1:9732c03b0de4 70
maxnagazumi 0:ef259ff25554 71 }
maxnagazumi 0:ef259ff25554 72 return 0;
maxnagazumi 0:ef259ff25554 73 }