Diff: kohiMD.cpp

Revision:

6:d4d97efd8881

Parent:

3:1d075a1750ee

Child:

7:d7e8402e6869

diff -r 1d075a1750ee -r d4d97efd8881 kohiMD.cpp
--- 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