SES / Mbed 2 deprecated mbed_blinky

新型モータードライバのメインプログラム

Dependencies:   mbed

main.cpp@0:cf3829614495, 2016-05-11 (annotated)

Committer:
SES01
Date:
Wed May 11 07:31:23 2016 +0000
Revision:
0:cf3829614495
Child:
1:e45830806a1c
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SES01 0:cf3829614495 1 #include "mbed.h"
SES01 0:cf3829614495 2
SES01 0:cf3829614495 3 #define F_MD 18000 //PWMキャリア周波数設定
SES01 0:cf3829614495 4
SES01 0:cf3829614495 5 /*
SES01 0:cf3829614495 6 * High_A High_B
SES01 0:cf3829614495 7 * ┃ ┃
SES01 0:cf3829614495 8 * ┃ ┃
SES01 0:cf3829614495 9 * ┣━━━┫
SES01 0:cf3829614495 10 * ┃ ┃
SES01 0:cf3829614495 11 * ┃ ┃
SES01 0:cf3829614495 12 * Low_A Low_B
SES01 0:cf3829614495 13 */
SES01 0:cf3829614495 14
SES01 0:cf3829614495 15 //Serial pc(USBTX, USBRX);
SES01 0:cf3829614495 16 Serial comPort(dp16, dp15);
SES01 0:cf3829614495 17 //DigitalOut myled1(LED1); //汎用IOで使用するためLED1は使用できない
SES01 0:cf3829614495 18 DigitalOut myled(dp24);
SES01 0:cf3829614495 19 DigitalOut driverEnable(dp28);
SES01 0:cf3829614495 20 //dp1 = ローサイドPWM1, dp2 = ローサイドPWM2
SES01 0:cf3829614495 21 //dp5 = ハイサイドPWM1, dp27 = ハイサイドPWM2 （オープンドレイン）
SES01 0:cf3829614495 22 PwmOut Low_A(dp1);
SES01 0:cf3829614495 23 PwmOut Low_B(dp2);
SES01 0:cf3829614495 24 DigitalOut High_A(dp5);
SES01 0:cf3829614495 25 DigitalOut High_B(dp27);
SES01 0:cf3829614495 26
SES01 0:cf3829614495 27 AnalogIn ain(dp4);
SES01 0:cf3829614495 28 BusInOut led7(dp6, dp9, dp10, dp11, dp13, dp14, dp17, dp18);
SES01 0:cf3829614495 29
SES01 0:cf3829614495 30 void com_rx() {
SES01 0:cf3829614495 31 /*switch (comPort.getc()) {
SES01 0:cf3829614495 32 case 255
SES01 0:cf3829614495 33
SES01 0:cf3829614495 34 }*/
SES01 0:cf3829614495 35 }
SES01 0:cf3829614495 36
SES01 0:cf3829614495 37 int main() {
SES01 0:cf3829614495 38 //comPort.baud(9600);
SES01 0:cf3829614495 39 //comPort.format(8, Serial::None, 1);
SES01 0:cf3829614495 40 comPort.attach(&com_rx, Serial::RxIrq);
SES01 0:cf3829614495 41
SES01 0:cf3829614495 42 int FP_MD = 1000000 / F_MD; //PWM一周期の周期（マイクロ秒）
SES01 0:cf3829614495 43
SES01 0:cf3829614495 44 led7.output();
SES01 0:cf3829614495 45
SES01 0:cf3829614495 46 High_A = 0;
SES01 0:cf3829614495 47 High_B = 1;
SES01 0:cf3829614495 48
SES01 0:cf3829614495 49 Low_A.period_us(FP_MD);
SES01 0:cf3829614495 50 Low_A.write(0);
SES01 0:cf3829614495 51 Low_B.period_us(FP_MD);
SES01 0:cf3829614495 52 Low_B.write(0);
SES01 0:cf3829614495 53 //初期設定完了
SES01 0:cf3829614495 54
SES01 0:cf3829614495 55 //flipper.attach(&flip, 2.0);
SES01 0:cf3829614495 56 //flipper.attach(&flip, 2.0);
SES01 0:cf3829614495 57 //myled1 = 1;
SES01 0:cf3829614495 58 led7 = 0b11011010;
SES01 0:cf3829614495 59 driverEnable = 1;
SES01 0:cf3829614495 60 while (1) {
SES01 0:cf3829614495 61 Low_A.write((ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
SES01 0:cf3829614495 62 //pc.printf("%f\n", (ain.read() - 0.2) * 1.25 < 0 ? 0 : (ain.read() - 0.2) * 1.25);
SES01 0:cf3829614495 63 comPort.printf("%d", 0b01010101);
SES01 0:cf3829614495 64 }
SES01 0:cf3829614495 65 }