小日向さんのMDライブラリ
Dependents: 00_yotsuba 10_motor-test 00_yotsuba 200_yotsuba_21 ... more
Diff: kohiMD.cpp
- Revision:
- 6:d4d97efd8881
- Parent:
- 3:1d075a1750ee
- Child:
- 7:d7e8402e6869
--- a/kohiMD.cpp Sat Feb 01 15:11:39 2020 +0000 +++ b/kohiMD.cpp Thu Mar 04 11:57:50 2021 +0000 @@ -2,31 +2,25 @@ #include "mbed.h" KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin), -mdlpf(1.0/300,0.005), -pc(USBTX,USBRX,115200) +mdlpf(1.0/300,0.005) { pwmMD.period(1.0/25000.0); pwmMD.write(0.5); -// threadMD.start(callback(this, &HaseMD::MDloop)); - drive.attach(callback(this,&KohiMD::MDloop),1.0/200.0); +// drive.attach(callback(this,&KohiMD::MDloop),10ms); } void KohiMD::setSpeed(double speed_) { speed = speed_; -// pc.printf("%f \n\r",_pwmMD); + printf("%d\r\n",(int)(speed*10)); + MDloop(); } void KohiMD::MDloop() { -// while(true){ _pwmMD = mdlpf.path_value(speed); _pwmMD = 0.5 + _pwmMD /2.0; if(_pwmMD > 0.9) _pwmMD = 0.9; if(_pwmMD < 0.1) _pwmMD = 0.1; - pwmMD.write(_pwmMD); -// pc.printf("%f \n\r",_pwmMD); -// ThisThread::sleep_for(1000.0/400); -// threadMD.wait(1000.0/400); -// } + pwmMD.write(0.0); } \ No newline at end of file