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
- Committer:
- THtakahiro702286
- Date:
- 2020-02-01
- Revision:
- 2:103c3a6c7389
- Parent:
- 1:87d96da7a474
- Child:
- 3:1d075a1750ee
File content as of revision 2:103c3a6c7389:
#include "kohiMD.h" #include "mbed.h" KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin), mdlpf(1.0/300,0.005), pc(USBTX,USBRX,115200) { 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); } void KohiMD::setSpeed(double speed_) { speed = speed_; // pc.printf("%f \n\r",_pwmMD); } void KohiMD::MDloop() { // while(true){ _pwmMD = mdlpf.path_value(speed); _pwmMD = 0.5 + _pwmMD /2.0; if(_pwmMD > 0.8) _pwmMD = 0.8; if(_pwmMD < 0.2) _pwmMD = 0.2; pwmMD.write(_pwmMD); // pc.printf("%f \n\r",_pwmMD); // ThisThread::sleep_for(1000.0/400); // threadMD.wait(1000.0/400); // } }