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:
- 1:87d96da7a474
- Child:
- 2:103c3a6c7389
- Child:
- 5:89c4237ef94a
diff -r 24c2a636c6f0 -r 87d96da7a474 kohiMD.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/kohiMD.cpp Mon Jan 27 09:17:43 2020 +0000 @@ -0,0 +1,32 @@ +#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 > 0.9) _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); +// } +} \ No newline at end of file