Diff: main.cpp

Revision:

0:498f26548905

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 30 06:30:25 2019 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+
+//モータードライバー＋回転数計測プログラム
+
+InterruptIn enc(A5);
+DigitalOut led(LED1);
+
+int counter =0;
+
+void event_handler(void){
+    counter++;
+    led =!led;
+}
+
+
+PwmOut AIN1(A1);
+PwmOut AIN2(A2);
+ 
+void motorStop(PwmOut IN1,PwmOut IN2) {
+    IN1 = 1;
+    IN2 = 1;
+}
+ 
+void motorForward(PwmOut IN1,PwmOut IN2,float duty) {
+    motorStop(IN1,IN2);
+    IN1 = duty;
+    IN2 = 0;
+}
+ 
+void motorReverse(PwmOut IN1,PwmOut IN2,float duty) {
+    motorStop(IN1,IN2);
+    IN1 = 0;
+    IN2 = duty;
+}
+ 
+
+int main() {
+
+    while(1) {
+        enc.rise(&event_handler);
+        enc.fall(&event_handler);
+        
+        for(float duty=1.0 ; duty>0 ;duty-=0.1){
+        
+        motorForward(AIN1,AIN2,duty);
+        printf("\nduty:%f\n",duty);
+        wait(5);
+        counter = 0;
+        wait(1);
+        printf("%d\n",counter/24);       
+        motorStop(AIN1,AIN2);
+        wait(1);
+        }
+        
+        for(float duty=1.0 ; duty>0 ;duty-=0.1){
+        
+        motorReverse(AIN1,AIN2,duty);
+        printf("\nduty:%f\n",duty);
+        wait(5);
+        counter = 0;
+        wait(1);
+        printf("%d\n",counter/24);//スリットが12個、0から１までで一回１から０までで一回計測するので12の二倍     
+        motorStop(AIN1,AIN2);
+        wait(1);
+        }
+ 
+    }
+}
\ No newline at end of file