SpeedControl Class Reference

   Ec4multi EC(p11,p12,500);
   SpeedControl motor(p21,p22,50,EC);
   int main(){
       motor.period_us(50);
       while(1){

   //プログラム例
   #include "mbed.h"
   #include "EC.h" //Encoderライブラリをインクルード
   #include "SpeedController.h"    //SpeedControlライブラリをインクルード
   #define RESOLUTION 500
   Ec4multi EC(p11,p12,RESOLUTION);
   SpeedControl motor(p21,p22,50,EC);
   int main(){
       motor.setEquation(0.0062,0.0045,-0.0061,0.0091);    //求めたC,Dの値を設定
       motor.setPDparam(0.1,0.0);  //PIDの係数を設定
       int kai=0;
       for(int i=0;i<100000000;i++){
           motor.Sc(10);   //10[rad/s]でモーターを回転
           kai++;
           if(kai>1000){
               printf("omega=%f\r\n",EC.getOmega());
               kai=0;
           }
       }
       motor.stop()
       while(1);
   }

  Ec4multi EC(p11,p12,500);
  SpeedControl motor(p21,p22,50,EC);
  int main(){
      motor.setDutyLimit(0.5);    //duty比の上限を0.5に設定
      while(1){

  Ec4multi EC(p11,p12,500);
  SpeedControl motor(p21,p22,50,EC);
  int main(){
      motor.setEquation(0.02,0.0001,-0.02,0.0001);
      while(1){

  Ec4multi EC(p11,p12,500);
  SpeedControl motor(p21,p22,50,EC);
  int main(){
      motor.setPDparam(0.1,0.001);
      while(1){

   #include "mbed.h"
   #include "EC.h" //Encoderライブラリをインクルード
   #include "SpeedController.h"    //SpeedControlライブラリをインクルード
   #define RESOLUTION 500
   Ec4multi EC(p11,p12,RESOLUTION);
   SpeedControl motor(p21,p22,50,EC);
   int main(){
       while(1){
           motor.turn(0.5);    //duty0.5で正転
           wait(1);
           motor.turn(0);      //停止
           wait(1);
           motor.turn(-0.5);   //duty0.5で逆転
           wait(1);
           motor.turn(0);      //停止
           wait(1);
       }
   }