KIT_lab / Mbed 2 deprecated DCmotor_T1

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Dependencies:   mbed QEI mbed-rtos

Diff: main.cpp

Revision:
11:9747752435d1
Parent:
10:0984c90b820b
Child:
12:459af534d1ee
diff -r 0984c90b820b -r 9747752435d1 main.cpp
--- a/main.cpp	Sat Nov 24 12:01:02 2012 +0000
+++ b/main.cpp	Thu Nov 29 09:25:56 2012 +0000
@@ -1,5 +1,5 @@
 //  DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase.
-//      ver. 121124a by Kosaka lab.
+//      ver. 121129a by Kosaka lab.
 #include "mbed.h"
 #include "rtos.h"
 #include "QEI.h"
@@ -253,7 +253,7 @@
     _i = y;
     _u = u;
 #else
-    _u = _iref;     // without current control.
+    _u = _iref/IMAX*VMAX;     // without current control.
 #endif
 
     u2Hbridge(_u);  // input u to TA7291 driver