File content as of revision 8:f7ad1d7176ba:

#include    "mbed.h"
#include    "DRV8830.h"
#include    "MotorMove.h"
#define SPEED_RATIO  1.0

//float vol_decel_ini[DECEL_SIZE] = {1,0.75,0.4,0.15,0.05,0};
float vol_decel_ini[DECEL_SIZE] = {-0.5,0,0,0,0,0};
float vol_accel_ini[ACCEL_SIZE] = {0,0.5,0.8,1,1,1};

void MotorMove::up_motor_set(int time_counter, int speed)
    {
        bflag_up =1;
        bflag_down =0;
        start_time_count=time_counter;

        for (int i=0;i<ACCEL_SIZE;i++)
        {
             vol_accel[i] = vol_accel_ini[i]*speed/SPEED_RATIO;
        }                
                
        for (int i=0;i<DECEL_SIZE;i++)
        {
             vol_decel[i] = vol_decel_ini[i]*speed/SPEED_RATIO;
        }
    };

        
void MotorMove::down_motor_set(int time_counter, int speed)
    {
        bflag_up =0;
        bflag_down=1;
        start_time_count=time_counter;
                
        for (int i=0;i<ACCEL_SIZE;i++)
        {
             vol_accel[i] = vol_accel_ini[i]*speed/SPEED_RATIO;
        }  
        
        for (int i=0;i<DECEL_SIZE;i++)
        {
             vol_decel[i] = vol_decel_ini[i]*speed/SPEED_RATIO;
        }
    };
    
    
float MotorMove::ReturnMotorVol(int time_counter, int sw_flag1,int sw_flag2)
    {
        float speed;
        int time = time_counter - start_time_count;
        
        
        static int sw_flag1_pre=0;
        static int sw_flag2_pre=0;
        static int stop_time=0;
        
        static int up_decel_count=0;
        static int down_decel_count=0;
        
        //decel timer check
        if(bflag_up==1)
           up_decel_count==0;
        if(bflag_down==1)
           down_decel_count==0;
           
        
        
        if(bflag_up)
         {
             if (sw_flag2==1 && sw_flag2_pre==0) //State changed 
             {
                stop_time=time_counter;
             }  

            if(sw_flag2==0) // move motor
             {
                if(time>ACCEL_SIZE)
                   {
                     time = ACCEL_SIZE;
                   }
                speed = vol_accel[time];
             }
             
            else if  (sw_flag2==1)
             { 
              time = time_counter-stop_time;
              
                if(time>DECEL_SIZE)
                   {
                     time = DECEL_SIZE;
                     bflag_up =0;
                   }
                speed = vol_decel[time];
            }
         }
         
        else if (bflag_down)
         {
             if (sw_flag1==1 && sw_flag1_pre==0) //State changed 
             {
                stop_time=time_counter;
             }  

            if(sw_flag1==0) // move motor
             {
                if(time>ACCEL_SIZE)
                   {
                     time = ACCEL_SIZE;
                   }
                speed = -vol_accel[time];
             }
             
            else if  (sw_flag1==1)
             { 
              time = time_counter-stop_time;
                if(time>DECEL_SIZE)
                   {
                     time = DECEL_SIZE;
                     bflag_down =0;
                   }
                speed = -vol_decel[time];
             }
         }
         
        sw_flag1_pre=sw_flag1;
        sw_flag2_pre=sw_flag2;        
        return speed;       
    };