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:
piroro4560
Date:
2021-03-04
Revision:
6:d4d97efd8881
Parent:
3:1d075a1750ee
Child:
7:d7e8402e6869

File content as of revision 6:d4d97efd8881:

#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_)
{
    speed = speed_;
    printf("%d\r\n",(int)(speed*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(0.0);
}