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Dependencies: mbed
Fork of
Low_Cost_PWM
by 
Hans Dampf
Motorregler_simple.cpp@5:a68e6c550e4b, 2014-09-10 (annotated)
- Committer:
- Racer01014
- Date:
- Wed Sep 10 12:51:11 2014 +0000
- Revision:
- 5:a68e6c550e4b
- Child:
- 6:f97371e6bc3e
Auf ein neues;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Racer01014 | 5:a68e6c550e4b | 1 | #include "mbed.h" |
| Racer01014 | 5:a68e6c550e4b | 2 | |
| Racer01014 | 5:a68e6c550e4b | 3 | |
| Racer01014 | 5:a68e6c550e4b | 4 | PwmOut Motroregler_PWM(p22); |
| Racer01014 | 5:a68e6c550e4b | 5 | |
| Racer01014 | 5:a68e6c550e4b | 6 | int void() |
| Racer01014 | 5:a68e6c550e4b | 7 | { |
| Racer01014 | 5:a68e6c550e4b | 8 | |
| Racer01014 | 5:a68e6c550e4b | 9 | //*************************************************************************************************** |
| Racer01014 | 5:a68e6c550e4b | 10 | //Control Motor rpm |
| Racer01014 | 5:a68e6c550e4b | 11 | |
| Racer01014 | 5:a68e6c550e4b | 12 | int rpm_control(float motor_n_cmd, float motor_n_cur) |
| Racer01014 | 5:a68e6c550e4b | 13 | { |
| Racer01014 | 5:a68e6c550e4b | 14 | |
| Racer01014 | 5:a68e6c550e4b | 15 | static int motor_pwm_cmd_last = 900; |
| Racer01014 | 5:a68e6c550e4b | 16 | //static float motor_n_last = 0; |
| Racer01014 | 5:a68e6c550e4b | 17 | |
| Racer01014 | 5:a68e6c550e4b | 18 | if (motor_n_cmd < 1.0) { |
| Racer01014 | 5:a68e6c550e4b | 19 | Motroregler_PWM.pulsewidth_us(900); |
| Racer01014 | 5:a68e6c550e4b | 20 | motor_pwm_cmd_last = 900; |
| Racer01014 | 5:a68e6c550e4b | 21 | // motor_n_last = 0; |
| Racer01014 | 5:a68e6c550e4b | 22 | return 1; |
| Racer01014 | 5:a68e6c550e4b | 23 | } |
| Racer01014 | 5:a68e6c550e4b | 24 | |
| Racer01014 | 5:a68e6c550e4b | 25 | float motor_n_dif = motor_n_cmd - motor_n_cur; |
| Racer01014 | 5:a68e6c550e4b | 26 | |
| Racer01014 | 5:a68e6c550e4b | 27 | int motor_pwm_cmd = (int)(motor_pwm_cmd_last + motor_n_dif * 0.6 + 0.5); // round() ... works only for positive values |
| Racer01014 | 5:a68e6c550e4b | 28 | |
| Racer01014 | 5:a68e6c550e4b | 29 | pc.printf("cmd: %7.2f, cur: %7.2f, dif: %7.2f, motor_pwm_cmd: %4d, motor_pwm_dif: %4d, DMS: %f\n\r", |
| Racer01014 | 5:a68e6c550e4b | 30 | motor_n_cmd*60, motor_n_cur*60, motor_n_dif*60, motor_pwm_cmd, motor_pwm_cmd-motor_pwm_cmd_last, ((int)DMS_0.read_u16())/65536.0*3.3); |
| Racer01014 | 5:a68e6c550e4b | 31 | |
| Racer01014 | 5:a68e6c550e4b | 32 | if (motor_pwm_cmd > 1900) motor_pwm_cmd = 1900; |
| Racer01014 | 5:a68e6c550e4b | 33 | else if (motor_pwm_cmd < 1010) motor_pwm_cmd = 1005; |
| Racer01014 | 5:a68e6c550e4b | 34 | |
| Racer01014 | 5:a68e6c550e4b | 35 | Motroregler_PWM.pulsewidth_us(motor_pwm_cmd); |
| Racer01014 | 5:a68e6c550e4b | 36 | motor_pwm_cmd_last = motor_pwm_cmd; |
| Racer01014 | 5:a68e6c550e4b | 37 | |
| Racer01014 | 5:a68e6c550e4b | 38 | return 1; |
| Racer01014 | 5:a68e6c550e4b | 39 | } |
| Racer01014 | 5:a68e6c550e4b | 40 | |
| Racer01014 | 5:a68e6c550e4b | 41 | //*************************************************************************************************** |
| Racer01014 | 5:a68e6c550e4b | 42 | //Control MOSFET pwm |
| Racer01014 | 5:a68e6c550e4b | 43 | } |