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
00001 #include "kohiMD.h" 00002 #include "mbed.h" 00003 00004 KohiMD::KohiMD(PinName pwmPin) : pwmMD(pwmPin), 00005 mdlpf(1.0/300,0.005)//, 00006 //pc(USBTX,USBRX,115200) 00007 { 00008 pwmMD.period(1.0/25000.0); 00009 pwmMD.write(0.5); 00010 // threadMD.start(callback(this, &HaseMD::MDloop)); 00011 // drive.attach(callback(this,&KohiMD::MDloop),10ms); 00012 } 00013 00014 void KohiMD::setSpeed(double speed_) 00015 { 00016 speed = speed_; 00017 MDloop(); 00018 // pc.printf("%f \n\r",_pwmMD); 00019 } 00020 00021 void KohiMD::MDloop() 00022 { 00023 // while(true){ 00024 _pwmMD = mdlpf.path_value(speed); 00025 _pwmMD = 0.5 + _pwmMD /2.0; 00026 if(_pwmMD > 0.9) _pwmMD = 0.9; 00027 if(_pwmMD < 0.1) _pwmMD = 0.1; 00028 pwmMD.write(_pwmMD); 00029 // pc.printf("%f \n\r",_pwmMD); 00030 // ThisThread::sleep_for(1000.0/400); 00031 // threadMD.wait(1000.0/400); 00032 // } 00033 }
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