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Dependencies:   mbed FreeRTOS

HbMotor.cpp@29:eb3d72dd94aa, 2018-12-17 (annotated)

Committer:
MasashiNomura
Date:
Mon Dec 17 13:25:00 2018 +0000
Revision:
29:eb3d72dd94aa
Parent:
28:fdb3b144e342
Child:
32:7f4145cc3551
2018/12/17 modify HbMotCtrl HbSubProp etc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
takeru0x1103 18:5aa48aec9cae 1 #include "HbMotor.h"
takeru0x1103 18:5aa48aec9cae 2 #include "fpga.h"
takeru0x1103 18:5aa48aec9cae 3
takeru0x1103 18:5aa48aec9cae 4 //=========================================
takeru0x1103 18:5aa48aec9cae 5 //コンストラクタ
takeru0x1103 18:5aa48aec9cae 6 //=========================================
takeru0x1103 18:5aa48aec9cae 7 HbMotor::HbMotor(UCHAR iID ){
takeru0x1103 18:5aa48aec9cae 8 id =iID;
takeru0x1103 19:4b0fe9a5ec38 9 ofs =0;//
MasashiNomura 25:f3a6e7eec9c3 10 limitH =2000;
MasashiNomura 25:f3a6e7eec9c3 11 limitL =-2000;
MasashiNomura 25:f3a6e7eec9c3 12 curVal = 0;
takeru0x1103 18:5aa48aec9cae 13 }
takeru0x1103 18:5aa48aec9cae 14
takeru0x1103 18:5aa48aec9cae 15 //-----------------------------------------
takeru0x1103 18:5aa48aec9cae 16 //モーター設定
takeru0x1103 18:5aa48aec9cae 17 //-----------------------------------------
takeru0x1103 18:5aa48aec9cae 18 void HbMotor::setValue(INT16 iVal){
takeru0x1103 18:5aa48aec9cae 19 UINT16 val;
takeru0x1103 18:5aa48aec9cae 20
takeru0x1103 18:5aa48aec9cae 21 //入力リミット
takeru0x1103 18:5aa48aec9cae 22 if( iVal > limitH ){
takeru0x1103 18:5aa48aec9cae 23 val = limitH;
takeru0x1103 18:5aa48aec9cae 24 }else if( iVal < limitL ){
takeru0x1103 18:5aa48aec9cae 25 val = limitL;
takeru0x1103 18:5aa48aec9cae 26 }else{
takeru0x1103 18:5aa48aec9cae 27 val = iVal;
takeru0x1103 18:5aa48aec9cae 28 }
takeru0x1103 18:5aa48aec9cae 29
takeru0x1103 18:5aa48aec9cae 30 //オフセット重畳
MasashiNomura 25:f3a6e7eec9c3 31 curVal = val = val + ofs;
MasashiNomura 25:f3a6e7eec9c3 32 //sp.printf("MOT [%d]",curVal);//Test Code
takeru0x1103 19:4b0fe9a5ec38 33 //PWM幅設定
takeru0x1103 18:5aa48aec9cae 34 fpgaSubProp(id,val);
takeru0x1103 18:5aa48aec9cae 35 }
MasashiNomura 25:f3a6e7eec9c3 36
MasashiNomura 25:f3a6e7eec9c3 37 void HbMotor::setOfs(INT16 iVal){
MasashiNomura 24:c5945aaae777 38 ofs = iVal;
MasashiNomura 24:c5945aaae777 39 }
MasashiNomura 24:c5945aaae777 40
MasashiNomura 25:f3a6e7eec9c3 41 INT16 HbMotor::getOfs(){
MasashiNomura 25:f3a6e7eec9c3 42 return ofs;
MasashiNomura 25:f3a6e7eec9c3 43 }
MasashiNomura 25:f3a6e7eec9c3 44
MasashiNomura 24:c5945aaae777 45 void HbMotor::setLimit(INT16 low, INT16 hi){
MasashiNomura 24:c5945aaae777 46 limitL = low;
MasashiNomura 24:c5945aaae777 47 limitH = hi;
MasashiNomura 25:f3a6e7eec9c3 48 }
MasashiNomura 25:f3a6e7eec9c3 49
MasashiNomura 25:f3a6e7eec9c3 50 INT16 HbMotor::getCurrentValue(){
MasashiNomura 25:f3a6e7eec9c3 51 return curVal;
MasashiNomura 25:f3a6e7eec9c3 52 }
MasashiNomura 25:f3a6e7eec9c3 53
MasashiNomura 25:f3a6e7eec9c3 54 void HbMotor::setValueDirect(INT16 iVal){
MasashiNomura 25:f3a6e7eec9c3 55 //PWM幅設定
MasashiNomura 25:f3a6e7eec9c3 56 //sp.printf("MOT [%d]",iVal);//Test Code
MasashiNomura 25:f3a6e7eec9c3 57 fpgaSubProp(id,iVal);
MasashiNomura 25:f3a6e7eec9c3 58 }
MasashiNomura 27:ff63c23bc689 59
MasashiNomura 27:ff63c23bc689 60 void HbMotor::setValueFPGA(UCHAR iID, INT16 iVal){
MasashiNomura 27:ff63c23bc689 61 UCHAR tmp = id * 2 + iID;
MasashiNomura 27:ff63c23bc689 62 fpgaMotor(tmp,iVal);
MasashiNomura 27:ff63c23bc689 63 }
MasashiNomura 28:fdb3b144e342 64
MasashiNomura 28:fdb3b144e342 65
MasashiNomura 28:fdb3b144e342 66 //=========================================
MasashiNomura 28:fdb3b144e342 67 //コンストラクタ
MasashiNomura 28:fdb3b144e342 68 //=========================================
MasashiNomura 28:fdb3b144e342 69 HbMotCtrl::HbMotCtrl(eMotPos Pos, INT16 Type){
MasashiNomura 28:fdb3b144e342 70 pos = Pos;
MasashiNomura 28:fdb3b144e342 71 typ = Type;
MasashiNomura 29:eb3d72dd94aa 72 //for(int i = 0; i < 4; ++i){
MasashiNomura 29:eb3d72dd94aa 73 // ready.reset(i);
MasashiNomura 29:eb3d72dd94aa 74 //}
MasashiNomura 29:eb3d72dd94aa 75 val = 0;
MasashiNomura 28:fdb3b144e342 76 ofs = 0;
MasashiNomura 28:fdb3b144e342 77 pwmMin = 0;
MasashiNomura 28:fdb3b144e342 78 pwmMax = 0;
MasashiNomura 28:fdb3b144e342 79 rpmMin = 0;
MasashiNomura 28:fdb3b144e342 80 rpmMax = 0;
MasashiNomura 29:eb3d72dd94aa 81 rpmGain = 1;
MasashiNomura 29:eb3d72dd94aa 82 rpmOfs = 0;
MasashiNomura 28:fdb3b144e342 83 coefA = 0;
MasashiNomura 28:fdb3b144e342 84 coefB = 0;
MasashiNomura 28:fdb3b144e342 85 coefC = 0;
MasashiNomura 29:eb3d72dd94aa 86 //curPwmVal = 0;
MasashiNomura 29:eb3d72dd94aa 87 //curRpmVal = 0;
MasashiNomura 28:fdb3b144e342 88 }
MasashiNomura 28:fdb3b144e342 89 //=========================================
MasashiNomura 28:fdb3b144e342 90 //デストラクタ
MasashiNomura 28:fdb3b144e342 91 //=========================================
MasashiNomura 28:fdb3b144e342 92 HbMotCtrl::~HbMotCtrl(){
MasashiNomura 28:fdb3b144e342 93 }
MasashiNomura 28:fdb3b144e342 94
MasashiNomura 28:fdb3b144e342 95 bool HbMotCtrl::isReady()
MasashiNomura 28:fdb3b144e342 96 {
MasashiNomura 28:fdb3b144e342 97 return true;
MasashiNomura 28:fdb3b144e342 98 }
MasashiNomura 28:fdb3b144e342 99 void HbMotCtrl::setPwmLimt(INT16 Min, INT16 Max){
MasashiNomura 28:fdb3b144e342 100 pwmMax = Max;
MasashiNomura 28:fdb3b144e342 101 pwmMin = Min;
MasashiNomura 29:eb3d72dd94aa 102 //ready.set(0);
MasashiNomura 28:fdb3b144e342 103 }
MasashiNomura 28:fdb3b144e342 104 void HbMotCtrl::setRpmLimt(INT16 Min, INT16 Max){
MasashiNomura 28:fdb3b144e342 105 rpmMax = Max;
MasashiNomura 28:fdb3b144e342 106 rpmMin = Min;
MasashiNomura 29:eb3d72dd94aa 107 //ready.set(1);
MasashiNomura 29:eb3d72dd94aa 108 }
MasashiNomura 29:eb3d72dd94aa 109 void HbMotCtrl::setRpmOffset(INT16 ofs){
MasashiNomura 29:eb3d72dd94aa 110 rpmOfs = ofs;
MasashiNomura 29:eb3d72dd94aa 111 }
MasashiNomura 29:eb3d72dd94aa 112 void HbMotCtrl::setRpmGain(float gain){
MasashiNomura 29:eb3d72dd94aa 113 rpmGain = gain;
MasashiNomura 28:fdb3b144e342 114 }
MasashiNomura 28:fdb3b144e342 115 void HbMotCtrl::setMotCoef(float a, float b, float c){
MasashiNomura 28:fdb3b144e342 116 coefA = a;
MasashiNomura 28:fdb3b144e342 117 coefB = b;
MasashiNomura 28:fdb3b144e342 118 coefC = c;
MasashiNomura 29:eb3d72dd94aa 119 //ready.set(2);
MasashiNomura 28:fdb3b144e342 120 }
MasashiNomura 28:fdb3b144e342 121 //void HbMotCtrl::makeTable(){
MasashiNomura 28:fdb3b144e342 122 // 0は0rpm,1%は1500rpm(minimum)....100%はMaxrpm
MasashiNomura 28:fdb3b144e342 123 // tblVal[0] = 0;
MasashiNomura 28:fdb3b144e342 124 // tblVal[99] = pwmMax;
MasashiNomura 28:fdb3b144e342 125 // float rpmStep = (rpmMax - rpmMin) / 99;
MasashiNomura 28:fdb3b144e342 126 // int tmpRpm;
MasashiNomura 28:fdb3b144e342 127 // int tmpPwm;
MasashiNomura 28:fdb3b144e342 128 // for(int i = 1; i < 99; ++i){
MasashiNomura 28:fdb3b144e342 129 // tmpRpm = rpmMin + (int)((rpmStep * (i-1)) + 0.5);
MasashiNomura 28:fdb3b144e342 130 // tmpPwm = (int)(coefA * tmpRpm * tmpRpm + coefB * tmpRpm + coefC);
MasashiNomura 28:fdb3b144e342 131 // tblVal[i] = tmpPwm;
MasashiNomura 28:fdb3b144e342 132 // }
MasashiNomura 28:fdb3b144e342 133 // ready.set(3);
MasashiNomura 28:fdb3b144e342 134 //}
MasashiNomura 28:fdb3b144e342 135
MasashiNomura 28:fdb3b144e342 136 INT16 HbMotCtrl::calcPwm(INT16 percent)
MasashiNomura 28:fdb3b144e342 137 {
MasashiNomura 28:fdb3b144e342 138 float rpmStep = (rpmMax - rpmMin) / 99.0;
MasashiNomura 28:fdb3b144e342 139 int tmpRpm;
MasashiNomura 28:fdb3b144e342 140 INT16 tmpPwm;
MasashiNomura 28:fdb3b144e342 141 if(percent == 0){
MasashiNomura 28:fdb3b144e342 142 tmpPwm = 0;
MasashiNomura 28:fdb3b144e342 143 } else {
MasashiNomura 29:eb3d72dd94aa 144 //tmpRpm = rpmMin + (int)((rpmStep * (percent-1)) + 0.5);
MasashiNomura 29:eb3d72dd94aa 145 tmpRpm = rpmGain * (rpmMin + (int)((rpmStep * (percent-1)) + 0.5)) +rpmOfs;
MasashiNomura 29:eb3d72dd94aa 146 if(tmpRpm > rpmMax) tmpRpm = rpmMax;
MasashiNomura 29:eb3d72dd94aa 147 if(tmpRpm < 0) tmpRpm = 0;
MasashiNomura 28:fdb3b144e342 148 tmpPwm = (INT16)(coefA * tmpRpm * tmpRpm + coefB * tmpRpm + coefC);
MasashiNomura 28:fdb3b144e342 149 }
MasashiNomura 28:fdb3b144e342 150
MasashiNomura 28:fdb3b144e342 151 return tmpPwm;
MasashiNomura 28:fdb3b144e342 152 }
MasashiNomura 28:fdb3b144e342 153
MasashiNomura 29:eb3d72dd94aa 154 INT16 HbMotCtrl::calcPwm(UINT16 rpm)
MasashiNomura 29:eb3d72dd94aa 155 {
MasashiNomura 29:eb3d72dd94aa 156 //float rpmStep = (rpmMax - rpmMin) / 99.0;
MasashiNomura 29:eb3d72dd94aa 157 int tmpRpm;
MasashiNomura 29:eb3d72dd94aa 158 INT16 tmpPwm;
MasashiNomura 29:eb3d72dd94aa 159 if(rpm == 0){
MasashiNomura 29:eb3d72dd94aa 160 tmpPwm = 0;
MasashiNomura 29:eb3d72dd94aa 161 } else {
MasashiNomura 29:eb3d72dd94aa 162 tmpRpm = rpmGain * rpm + rpmOfs;
MasashiNomura 29:eb3d72dd94aa 163 if(tmpRpm > rpmMax) {
MasashiNomura 29:eb3d72dd94aa 164 tmpRpm = rpmMax;
MasashiNomura 29:eb3d72dd94aa 165 }
MasashiNomura 29:eb3d72dd94aa 166 //else if(tmpRpm < rpmMin && tmpRpm > 0) {
MasashiNomura 29:eb3d72dd94aa 167 // tmpRpm = rpmMin;
MasashiNomura 29:eb3d72dd94aa 168 //}
MasashiNomura 29:eb3d72dd94aa 169 else if( tmpRpm < 0){
MasashiNomura 29:eb3d72dd94aa 170 tmpRpm = 0;
MasashiNomura 29:eb3d72dd94aa 171 }
MasashiNomura 29:eb3d72dd94aa 172 tmpPwm = (INT16)(coefA * tmpRpm * tmpRpm + coefB * tmpRpm + coefC);
MasashiNomura 29:eb3d72dd94aa 173 if(tmpPwm < 0) tmpPwm = 0;
MasashiNomura 29:eb3d72dd94aa 174 }
MasashiNomura 29:eb3d72dd94aa 175
MasashiNomura 29:eb3d72dd94aa 176 return tmpPwm;
MasashiNomura 29:eb3d72dd94aa 177 }
MasashiNomura 29:eb3d72dd94aa 178
MasashiNomura 29:eb3d72dd94aa 179 //void HbMotCtrl::setValue(float value){
MasashiNomura 29:eb3d72dd94aa 180 // int iVal = 0;
MasashiNomura 29:eb3d72dd94aa 181 // if(value + 0.5 > 49){
MasashiNomura 29:eb3d72dd94aa 182 // iVal = 49;
MasashiNomura 29:eb3d72dd94aa 183 // }
MasashiNomura 29:eb3d72dd94aa 184 // else if (value < 0){
MasashiNomura 29:eb3d72dd94aa 185 // iVal = 0;
MasashiNomura 29:eb3d72dd94aa 186 // }
MasashiNomura 29:eb3d72dd94aa 187 // else{
MasashiNomura 29:eb3d72dd94aa 188 // iVal = value + 0.5;
MasashiNomura 29:eb3d72dd94aa 189 // }
MasashiNomura 29:eb3d72dd94aa 190 // val = iVal;
MasashiNomura 29:eb3d72dd94aa 191 // iVal+=ofs;
MasashiNomura 29:eb3d72dd94aa 192 // UCHAR uPos = pos * 2 + typ;
MasashiNomura 29:eb3d72dd94aa 193
MasashiNomura 29:eb3d72dd94aa 194 // fpgaMotor(uPos, calcPwm(iVal));
MasashiNomura 29:eb3d72dd94aa 195 //}
MasashiNomura 29:eb3d72dd94aa 196 //void HbMotCtrl::setOfs(float value){
MasashiNomura 29:eb3d72dd94aa 197 // int iVal = 0;
MasashiNomura 29:eb3d72dd94aa 198 // if(value + 0.5 > 49){
MasashiNomura 29:eb3d72dd94aa 199 // iVal = 49;
MasashiNomura 29:eb3d72dd94aa 200 // }
MasashiNomura 29:eb3d72dd94aa 201 // else if (value < 0){
MasashiNomura 29:eb3d72dd94aa 202 // iVal = 0;
MasashiNomura 29:eb3d72dd94aa 203 // }
MasashiNomura 29:eb3d72dd94aa 204 // else{
MasashiNomura 29:eb3d72dd94aa 205 // iVal = value + 0.5;
MasashiNomura 29:eb3d72dd94aa 206 // }
MasashiNomura 29:eb3d72dd94aa 207 // ofs = iVal;
MasashiNomura 29:eb3d72dd94aa 208 // iVal+=val;
MasashiNomura 29:eb3d72dd94aa 209 // UCHAR uPos = pos * 2 + typ;
MasashiNomura 29:eb3d72dd94aa 210 // fpgaMotor(uPos, calcPwm(iVal));
MasashiNomura 29:eb3d72dd94aa 211 //}
MasashiNomura 29:eb3d72dd94aa 212 //float HbMotCtrl::getValue(){
MasashiNomura 29:eb3d72dd94aa 213 // return val;
MasashiNomura 29:eb3d72dd94aa 214 //}
MasashiNomura 29:eb3d72dd94aa 215 //float HbMotCtrl::getOfs(){
MasashiNomura 29:eb3d72dd94aa 216 // return ofs;
MasashiNomura 29:eb3d72dd94aa 217 //}
MasashiNomura 29:eb3d72dd94aa 218
MasashiNomura 29:eb3d72dd94aa 219 void HbMotCtrl::setRpmValue(INT16 value){
MasashiNomura 29:eb3d72dd94aa 220 INT16 iVal = 0;
MasashiNomura 29:eb3d72dd94aa 221 if(value + ofs > rpmMax){
MasashiNomura 29:eb3d72dd94aa 222 iVal = rpmMax - ofs;
MasashiNomura 28:fdb3b144e342 223 }
MasashiNomura 28:fdb3b144e342 224 else if (value < 0){
MasashiNomura 28:fdb3b144e342 225 iVal = 0;
MasashiNomura 28:fdb3b144e342 226 }
MasashiNomura 28:fdb3b144e342 227 else{
MasashiNomura 29:eb3d72dd94aa 228 iVal = value;
MasashiNomura 28:fdb3b144e342 229 }
MasashiNomura 28:fdb3b144e342 230 val = iVal;
MasashiNomura 28:fdb3b144e342 231 iVal+=ofs;
MasashiNomura 28:fdb3b144e342 232 UCHAR uPos = pos * 2 + typ;
MasashiNomura 28:fdb3b144e342 233
MasashiNomura 29:eb3d72dd94aa 234 fpgaMotor(uPos, calcPwm((UINT16)iVal));
MasashiNomura 28:fdb3b144e342 235 }
MasashiNomura 29:eb3d72dd94aa 236 void HbMotCtrl::setRpmOfs(INT16 value){
MasashiNomura 28:fdb3b144e342 237 int iVal = 0;
MasashiNomura 29:eb3d72dd94aa 238 if(value + val > rpmMax){
MasashiNomura 29:eb3d72dd94aa 239 iVal = rpmMax - val;
MasashiNomura 28:fdb3b144e342 240 }
MasashiNomura 28:fdb3b144e342 241 else if (value < 0){
MasashiNomura 28:fdb3b144e342 242 iVal = 0;
MasashiNomura 28:fdb3b144e342 243 }
MasashiNomura 28:fdb3b144e342 244 else{
MasashiNomura 29:eb3d72dd94aa 245 iVal = value;
MasashiNomura 28:fdb3b144e342 246 }
MasashiNomura 28:fdb3b144e342 247 ofs = iVal;
MasashiNomura 28:fdb3b144e342 248 iVal+=val;
MasashiNomura 28:fdb3b144e342 249 UCHAR uPos = pos * 2 + typ;
MasashiNomura 29:eb3d72dd94aa 250 fpgaMotor(uPos, calcPwm((UINT16)iVal));
MasashiNomura 28:fdb3b144e342 251 }
MasashiNomura 29:eb3d72dd94aa 252 INT16 HbMotCtrl::getRpmValue(){
MasashiNomura 28:fdb3b144e342 253 return val;
MasashiNomura 28:fdb3b144e342 254 }
MasashiNomura 29:eb3d72dd94aa 255 INT16 HbMotCtrl::getRpmOfs(){
MasashiNomura 28:fdb3b144e342 256 return ofs;
MasashiNomura 28:fdb3b144e342 257 }
MasashiNomura 28:fdb3b144e342 258
MasashiNomura 28:fdb3b144e342 259 //=========================================
MasashiNomura 28:fdb3b144e342 260 //コンストラクタ
MasashiNomura 28:fdb3b144e342 261 //=========================================
MasashiNomura 28:fdb3b144e342 262 HbSubProp::HbSubProp(eMotPos Pos){
MasashiNomura 28:fdb3b144e342 263 pos = Pos;
MasashiNomura 28:fdb3b144e342 264 motCtrl[0] = new HbMotCtrl(pos,0);
MasashiNomura 28:fdb3b144e342 265 motCtrl[0]->setPwmLimt(200, PWN_MAX);
MasashiNomura 28:fdb3b144e342 266 motCtrl[0]->setRpmLimt(RPM_MIN, RPM_IN_MAX);
MasashiNomura 28:fdb3b144e342 267 motCtrl[1] = new HbMotCtrl(pos,1);
MasashiNomura 28:fdb3b144e342 268 motCtrl[1]->setPwmLimt(200, PWN_MAX);
MasashiNomura 28:fdb3b144e342 269 motCtrl[1]->setRpmLimt(RPM_MIN, RPM_OUT_MAX);
MasashiNomura 28:fdb3b144e342 270 }
MasashiNomura 28:fdb3b144e342 271 //=========================================
MasashiNomura 28:fdb3b144e342 272 //デストラクタ
MasashiNomura 28:fdb3b144e342 273 //=========================================
MasashiNomura 28:fdb3b144e342 274 HbSubProp::~HbSubProp(){
MasashiNomura 28:fdb3b144e342 275 delete motCtrl[0];
MasashiNomura 28:fdb3b144e342 276 delete motCtrl[1];
MasashiNomura 28:fdb3b144e342 277 }
MasashiNomura 28:fdb3b144e342 278
MasashiNomura 28:fdb3b144e342 279 void HbSubProp::setRpmLimIn(INT16 min, INT16 max){
MasashiNomura 28:fdb3b144e342 280 if(motCtrl[0] == NULL) return;
MasashiNomura 28:fdb3b144e342 281 motCtrl[0]->setRpmLimt(min,max);
MasashiNomura 28:fdb3b144e342 282 }
MasashiNomura 28:fdb3b144e342 283 void HbSubProp::setRpmLimOut(INT16 min, INT16 max){
MasashiNomura 28:fdb3b144e342 284 if(motCtrl[1] == NULL) return;
MasashiNomura 28:fdb3b144e342 285 motCtrl[1]->setRpmLimt(min,max);
MasashiNomura 28:fdb3b144e342 286 }
MasashiNomura 28:fdb3b144e342 287 void HbSubProp::setPwmLimit(INT16 min, INT16 max){
MasashiNomura 28:fdb3b144e342 288 if(motCtrl[0] == NULL) return;
MasashiNomura 28:fdb3b144e342 289 motCtrl[0]->setPwmLimt(min, PWN_MAX);
MasashiNomura 28:fdb3b144e342 290 if(motCtrl[1] == NULL) return;
MasashiNomura 28:fdb3b144e342 291 motCtrl[1]->setPwmLimt(min, PWN_MAX);
MasashiNomura 28:fdb3b144e342 292 }
MasashiNomura 29:eb3d72dd94aa 293 void HbSubProp::setRpmGain(eMotType type, float gain){
MasashiNomura 29:eb3d72dd94aa 294 if(type == IN){
MasashiNomura 29:eb3d72dd94aa 295 motCtrl[0]->setRpmGain(gain);
MasashiNomura 29:eb3d72dd94aa 296 }
MasashiNomura 29:eb3d72dd94aa 297 else{
MasashiNomura 29:eb3d72dd94aa 298 motCtrl[1]->setRpmGain(gain);
MasashiNomura 29:eb3d72dd94aa 299 }
MasashiNomura 29:eb3d72dd94aa 300 }
MasashiNomura 29:eb3d72dd94aa 301 void HbSubProp::setRpmOffset(eMotType type, INT16 ofs){
MasashiNomura 29:eb3d72dd94aa 302 if(type == IN){
MasashiNomura 29:eb3d72dd94aa 303 motCtrl[0]->setRpmOffset(ofs);
MasashiNomura 29:eb3d72dd94aa 304 }
MasashiNomura 29:eb3d72dd94aa 305 else{
MasashiNomura 29:eb3d72dd94aa 306 motCtrl[1]->setRpmOffset(ofs);
MasashiNomura 29:eb3d72dd94aa 307 }
MasashiNomura 29:eb3d72dd94aa 308 }
MasashiNomura 28:fdb3b144e342 309 void HbSubProp::setCoef(eMotType type, float a, float b, float c){
MasashiNomura 28:fdb3b144e342 310 if(type == IN){
MasashiNomura 28:fdb3b144e342 311 if(motCtrl[0] == NULL)return;
MasashiNomura 28:fdb3b144e342 312 motCtrl[0]->setMotCoef(a,b,c);
MasashiNomura 28:fdb3b144e342 313 }
MasashiNomura 28:fdb3b144e342 314 else {
MasashiNomura 28:fdb3b144e342 315 if(motCtrl[1] == NULL)return;
MasashiNomura 28:fdb3b144e342 316 motCtrl[1]->setMotCoef(a,b,c);
MasashiNomura 28:fdb3b144e342 317 }
MasashiNomura 28:fdb3b144e342 318 }
MasashiNomura 28:fdb3b144e342 319 //void HbSubProp::makeTbl(){
MasashiNomura 28:fdb3b144e342 320 // if(motCtrl[0] == NULL) return;
MasashiNomura 28:fdb3b144e342 321 // if(motCtrl[1] == NULL) return;
MasashiNomura 28:fdb3b144e342 322 // motCtrl[0]->makeTable();
MasashiNomura 28:fdb3b144e342 323 // motCtrl[1]->makeTable();
MasashiNomura 28:fdb3b144e342 324 //}
MasashiNomura 29:eb3d72dd94aa 325 void HbSubProp::setValue(INT16 val){
MasashiNomura 28:fdb3b144e342 326 if(motCtrl[0] == NULL || motCtrl[1] == NULL) return;
MasashiNomura 29:eb3d72dd94aa 327 motCtrl[0]->setRpmValue(val);
MasashiNomura 29:eb3d72dd94aa 328 motCtrl[1]->setRpmValue(val);
MasashiNomura 28:fdb3b144e342 329 }
MasashiNomura 29:eb3d72dd94aa 330 void HbSubProp::setOfs(INT16 val){
MasashiNomura 28:fdb3b144e342 331 if(motCtrl[0] == NULL || motCtrl[1] == NULL) return;
MasashiNomura 29:eb3d72dd94aa 332 motCtrl[0]->setRpmOfs(val);
MasashiNomura 29:eb3d72dd94aa 333 motCtrl[1]->setRpmOfs(val);
MasashiNomura 28:fdb3b144e342 334 }
MasashiNomura 29:eb3d72dd94aa 335 INT16 HbSubProp::getValue(){
MasashiNomura 28:fdb3b144e342 336 if(motCtrl[0] == NULL || motCtrl[1] == NULL) return 0;
MasashiNomura 28:fdb3b144e342 337 // 同じはずなのでINのみ
MasashiNomura 29:eb3d72dd94aa 338 return motCtrl[0]->getRpmValue();
MasashiNomura 28:fdb3b144e342 339 }
MasashiNomura 29:eb3d72dd94aa 340 INT16 HbSubProp::getOfs(){
MasashiNomura 28:fdb3b144e342 341 if(motCtrl[0] == NULL || motCtrl[1] == NULL) return 0;
MasashiNomura 28:fdb3b144e342 342 // 同じはずなのでINのみ
MasashiNomura 29:eb3d72dd94aa 343 return motCtrl[0]->getRpmOfs();
MasashiNomura 28:fdb3b144e342 344 }
MasashiNomura 28:fdb3b144e342 345