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

Committer:
THtakahiro702286
Date:
2021-03-05
Revision:
8:ba7b31b888f2
Parent:
7:d7e8402e6869
Child:
9:f8af7b48531c

File content as of revision 8:ba7b31b888f2:

#include "kohiMD.h"
#include "mbed.h"

KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin),
mdlpf(1.0/300,0.005)
{
    pwmMD.period(1.0/25000.0);
    pwmMD.write(0.5);
//    drive.attach(callback(this,&KohiMD::MDloop),10ms);
}

void KohiMD::setSpeed(double speed_)
{
    _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);
    printf("%d\r\n",(int)(_pwmMD*10));
//    MDloop();
}
//
//void KohiMD::MDloop()
//{
//        _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(speed);
//}