Quadrifoglio / kohiMD

小日向さんのMDライブラリ

Dependents:   00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21 ... more

kohiMD.cpp@5:89c4237ef94a, 2021-03-04 (annotated)

Committer:
THtakahiro702286
Date:
Thu Mar 04 09:48:02 2021 +0000
Revision:
5:89c4237ef94a
Parent:
1:87d96da7a474
Child:
10:4c656817ca59
mbed os 6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 1:87d96da7a474 1 #include "kohiMD.h"
THtakahiro702286 1:87d96da7a474 2 #include "mbed.h"
THtakahiro702286 1:87d96da7a474 3
THtakahiro702286 1:87d96da7a474 4 KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin),
THtakahiro702286 5:89c4237ef94a 5 mdlpf(1.0/300,0.005)//,
THtakahiro702286 5:89c4237ef94a 6 //pc(USBTX,USBRX,115200)
THtakahiro702286 1:87d96da7a474 7 {
THtakahiro702286 1:87d96da7a474 8 pwmMD.period(1.0/25000.0);
THtakahiro702286 1:87d96da7a474 9 pwmMD.write(0.5);
THtakahiro702286 1:87d96da7a474 10 // threadMD.start(callback(this, &HaseMD::MDloop));
THtakahiro702286 5:89c4237ef94a 11 drive.attach(callback(this,&KohiMD::MDloop),10ms);
THtakahiro702286 1:87d96da7a474 12 }
THtakahiro702286 1:87d96da7a474 13
THtakahiro702286 1:87d96da7a474 14 void KohiMD::setSpeed(double speed_)
THtakahiro702286 1:87d96da7a474 15 {
THtakahiro702286 1:87d96da7a474 16 speed = speed_;
THtakahiro702286 1:87d96da7a474 17 // pc.printf("%f \n\r",_pwmMD);
THtakahiro702286 1:87d96da7a474 18 }
THtakahiro702286 1:87d96da7a474 19
THtakahiro702286 1:87d96da7a474 20 void KohiMD::MDloop()
THtakahiro702286 1:87d96da7a474 21 {
THtakahiro702286 1:87d96da7a474 22 // while(true){
THtakahiro702286 1:87d96da7a474 23 _pwmMD = mdlpf.path_value(speed);
THtakahiro702286 1:87d96da7a474 24 _pwmMD = 0.5 + _pwmMD /2.0;
THtakahiro702286 1:87d96da7a474 25 if(_pwmMD > 0.9) _pwmMD = 0.9;
THtakahiro702286 1:87d96da7a474 26 if(_pwmMD < 0.1) _pwmMD = 0.1;
THtakahiro702286 1:87d96da7a474 27 pwmMD.write(_pwmMD);
THtakahiro702286 1:87d96da7a474 28 // pc.printf("%f \n\r",_pwmMD);
THtakahiro702286 1:87d96da7a474 29 // ThisThread::sleep_for(1000.0/400);
THtakahiro702286 1:87d96da7a474 30 // threadMD.wait(1000.0/400);
THtakahiro702286 1:87d96da7a474 31 // }
THtakahiro702286 1:87d96da7a474 32 }