kikaikou_ibunshi
/
5_4
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Dependencies: mbed
Revision 0:498f26548905, committed 2019-10-30
- Comitter:
- komachiangel72
- Date:
- Wed Oct 30 06:30:25 2019 +0000
- Commit message:
- agemasu
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 30 06:30:25 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file