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@6:d4d97efd8881, 2021-03-04 (annotated)

Committer:
piroro4560
Date:
Thu Mar 04 11:57:50 2021 +0000
Revision:
6:d4d97efd8881
Parent:
3:1d075a1750ee
Child:
7:d7e8402e6869
kohi

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 1:87d96da7a474 14 speed = speed_;
piroro4560 6:d4d97efd8881 15 printf("%d\r\n",(int)(speed*10));
piroro4560 6:d4d97efd8881 16 MDloop();
THtakahiro702286 1:87d96da7a474 17 }
THtakahiro702286 1:87d96da7a474 18
THtakahiro702286 1:87d96da7a474 19 void KohiMD::MDloop()
THtakahiro702286 1:87d96da7a474 20 {
THtakahiro702286 1:87d96da7a474 21 _pwmMD = mdlpf.path_value(speed);
THtakahiro702286 1:87d96da7a474 22 _pwmMD = 0.5 + _pwmMD /2.0;
piroro4560 3:1d075a1750ee 23 if(_pwmMD > 0.9) _pwmMD = 0.9;
piroro4560 3:1d075a1750ee 24 if(_pwmMD < 0.1) _pwmMD = 0.1;
piroro4560 6:d4d97efd8881 25 pwmMD.write(0.0);
THtakahiro702286 1:87d96da7a474 26 }