Tests the motor by having the speed follow a sine wave.
Dependencies: mbed
motor_test.cpp@0:113570912de7, 2014-10-06 (annotated)
- Committer:
- jmar11
- Date:
- Mon Oct 06 14:56:56 2014 +0000
- Revision:
- 0:113570912de7
Tested the motor driver
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jmar11 | 0:113570912de7 | 1 | #include "mbed.h" |
jmar11 | 0:113570912de7 | 2 | |
jmar11 | 0:113570912de7 | 3 | PwmOut speed = PTE21; //speed |
jmar11 | 0:113570912de7 | 4 | DigitalOut direct = PTE20; //direction |
jmar11 | 0:113570912de7 | 5 | |
jmar11 | 0:113570912de7 | 6 | int main() { |
jmar11 | 0:113570912de7 | 7 | float t = 0; |
jmar11 | 0:113570912de7 | 8 | float val; |
jmar11 | 0:113570912de7 | 9 | |
jmar11 | 0:113570912de7 | 10 | while(1){ |
jmar11 | 0:113570912de7 | 11 | val = sin(t)/4; //motor speed follows a sine wave |
jmar11 | 0:113570912de7 | 12 | t += 0.00314f; |
jmar11 | 0:113570912de7 | 13 | |
jmar11 | 0:113570912de7 | 14 | if(val < 0){ //when val is negative switch direction |
jmar11 | 0:113570912de7 | 15 | direct = 1; |
jmar11 | 0:113570912de7 | 16 | speed = val * -1f; |
jmar11 | 0:113570912de7 | 17 | } |
jmar11 | 0:113570912de7 | 18 | else{ |
jmar11 | 0:113570912de7 | 19 | direct = 0; |
jmar11 | 0:113570912de7 | 20 | speed = val; |
jmar11 | 0:113570912de7 | 21 | } |
jmar11 | 0:113570912de7 | 22 | |
jmar11 | 0:113570912de7 | 23 | wait_us(2500); |
jmar11 | 0:113570912de7 | 24 | } |
jmar11 | 0:113570912de7 | 25 | } |