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Dependencies:   mbed FreeRTOS

HbMotor.cpp@27:ff63c23bc689, 2018-12-14 (annotated)

Committer:
MasashiNomura
Date:
Fri Dec 14 12:32:27 2018 +0000
Revision:
27:ff63c23bc689
Parent:
25:f3a6e7eec9c3
Child:
28:fdb3b144e342
2018/12/14 add AttCtrlDataArrayClass 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 }