![](/media/cache/profiles/1129cb8ba4665189d5a9bd861a2e28b9.jpg.50x50_q85.jpg)
4年工学基礎研究(前期)で作成したペンプロッタの制御プログラム
Dependencies: SPM_simple mbed trapezoidalMotionCal
Diff: main.cpp
- Revision:
- 3:ddb5ca27e94b
- Parent:
- 2:80eb19e9091e
diff -r 80eb19e9091e -r ddb5ca27e94b main.cpp --- a/main.cpp Fri Aug 04 00:53:48 2017 +0000 +++ b/main.cpp Fri Aug 04 03:47:41 2017 +0000 @@ -12,7 +12,7 @@ //stepMotor y_axis(PB_1 ,PB_2 ,PB_12 ,PA_11); stepMotor y_axis(PA_11 ,PB_12 ,PB_2 ,PB_1); -trapezoidalMotionCal motionCal(50, 50, 4000, 10000, -10000); +trapezoidalMotionCal motionCal(50, 50, 500, 5000, -5000); PwmOut servo(PC_6); PwmOut speaker(/*PC_8*/PA_15); @@ -20,7 +20,7 @@ DigitalIn x_originSW(PA_0); DigitalIn y_originSW(PA_1); -DigitalOut myled(LED1); +DigitalOut myled(PA_5); Serial pc(USBTX,USBRX); Serial debugPort(PA_9,PA_10); @@ -119,7 +119,6 @@ wait_ms(1000); - pc.printf("Hello\r\n"); debugPort.printf("Hello Debug Port\r\n"); x_axis.lock(); @@ -150,8 +149,9 @@ sendRequest(); while(1) { - + myled = 1; while(job == 0); + myled = 0; if(nextMode != 0){ // move mode runningPosition = nextPosition;