Yudai Suzuki
/
sekkeiseisaku_week4
week4
Revision 2:6173078c34ef, committed 2019-11-07
- Comitter:
- 16fr048
- Date:
- Thu Nov 07 07:09:46 2019 +0000
- Parent:
- 1:2d5ccfddbe36
- Commit message:
- week4
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 2d5ccfddbe36 -r 6173078c34ef main.cpp --- a/main.cpp Fri Nov 16 03:52:02 2018 +0000 +++ b/main.cpp Thu Nov 07 07:09:46 2019 +0000 @@ -16,6 +16,8 @@ QEI wheel(P1_0, P1_1, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); //チャンネルAとBの初期状態を決める PwmOut Servo1(D7); //Pwm出力Servo1の初期化 PwmOut Servo2(D6); //Pwm出力Servo2の初期化 +//PwmOut Servo1(D4); //Pwm出力Servo1の初期化 +//PwmOut Servo2(D3); //Pwm出力Servo2の初期化 //BusOut input(D6,D5); Ticker msec; //繰り返しタイマ割り込みmsecを定義 @@ -30,14 +32,14 @@ { y=(double)wheel.getPulses()*360/(ROTATE_PER_REVOLUTIONS); //エンコーダの値(角度)の取得 - pc.printf("(%-10f)¥0",y); //エンコーダ値(角度)の送信(serial) + pc.printf("(%-10f)\0",y); //エンコーダ値(角度)の送信(serial) e=r-y; //誤差値の計算 //u=KP*e; //P制御*******ここ書かせる******* //u=KP*e+KD*(e-old_e)/t; //PD制御*******ここ書かせる******* u=KP*e+KD*(e-old_e)/t+KI*(e+old_e)*t; //PID計算(入力値の計算)*******ここ書かせる******* old_e=e; //誤差値の保存 - + /***PWM値と回転方向の決定***/ if(u<0) { Servo1=-u;