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@8:ba7b31b888f2, 2021-03-05 (annotated)

Committer:
THtakahiro702286
Date:
Fri Mar 05 00:00:36 2021 +0000
Revision:
8:ba7b31b888f2
Parent:
7:d7e8402e6869
Child:
9:f8af7b48531c
nannkaugoita

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),
piroro4560 6:d4d97efd8881 5 mdlpf(1.0/300,0.005)
THtakahiro702286 1:87d96da7a474 6 {
THtakahiro702286 1:87d96da7a474 7 pwmMD.period(1.0/25000.0);
THtakahiro702286 1:87d96da7a474 8 pwmMD.write(0.5);
piroro4560 6:d4d97efd8881 9 // drive.attach(callback(this,&KohiMD::MDloop),10ms);
THtakahiro702286 1:87d96da7a474 10 }
THtakahiro702286 1:87d96da7a474 11
THtakahiro702286 1:87d96da7a474 12 void KohiMD::setSpeed(double speed_)
THtakahiro702286 1:87d96da7a474 13 {
THtakahiro702286 8:ba7b31b888f2 14 _pwmMD = mdlpf.path_value(speed_);
THtakahiro702286 7:d7e8402e6869 15 _pwmMD = 0.5 + _pwmMD /2.0;
THtakahiro702286 7:d7e8402e6869 16 if(_pwmMD > 0.9) _pwmMD = 0.9;
THtakahiro702286 7:d7e8402e6869 17 if(_pwmMD < 0.1) _pwmMD = 0.1;
THtakahiro702286 8:ba7b31b888f2 18 pwmMD.write(_pwmMD);
THtakahiro702286 8:ba7b31b888f2 19 printf("%d\r\n",(int)(_pwmMD*10));
THtakahiro702286 7:d7e8402e6869 20 // MDloop();
THtakahiro702286 1:87d96da7a474 21 }
THtakahiro702286 7:d7e8402e6869 22 //
THtakahiro702286 7:d7e8402e6869 23 //void KohiMD::MDloop()
THtakahiro702286 7:d7e8402e6869 24 //{
THtakahiro702286 7:d7e8402e6869 25 // _pwmMD = mdlpf.path_value(speed);
THtakahiro702286 7:d7e8402e6869 26 // _pwmMD = 0.5 + _pwmMD /2.0;
THtakahiro702286 7:d7e8402e6869 27 // if(_pwmMD > 0.9) _pwmMD = 0.9;
THtakahiro702286 7:d7e8402e6869 28 // if(_pwmMD < 0.1) _pwmMD = 0.1;
THtakahiro702286 7:d7e8402e6869 29 // pwmMD.write(speed);
THtakahiro702286 7:d7e8402e6869 30 //}