Revision 10:1bbe0d41813e, committed 2019-06-27

Comitter:

DaichiArai

Date:

Thu Jun 27 07:56:29 2019 +0000

Parent:

9:a3a2fb1a3ba7

Commit message:

2019/06/07

Changed in this revision

diff -r a3a2fb1a3ba7 -r 1bbe0d41813e mdc.cpp
--- a/mdc.cpp	Tue Apr 30 04:54:26 2019 +0000
+++ b/mdc.cpp	Thu Jun 27 07:56:29 2019 +0000
@@ -2,20 +2,20 @@
 #include "math.h"
 #include "mdc.h"
 
+extern I2C mdc_i2c;
+
 motor::motor(I2C &i2c, int addr): mdc_i2c(i2c)
 {
     address = addr;
     data[0] = 0;
     data[1] = 0;
-    data[2] = 0;
-    data[3] = 0;
     data_reset[0] = 0xff;
     data_reset[1] = 0;
     val = 1;
 }
 
 int motor::move(float pwm){
-    write_pwm = (int)(pwm*125);
+    write_pwm = (int)(pwm*127);
     if(pwm == 1000){
         md_data[0] = MOTOR_FREE;
         write_pwm = 0;
@@ -42,35 +42,14 @@
     mdc_i2c.write(address,data_reset,2);
 }
 
-//スピードを算出して、スピードの値を返却
-float motor::spd(){
-    val = mdc_i2c.read(address,data,10,false);
-    encoder_spd = (double)data[SPD_H] + (double)data[SPD_M]/100 + (double)data[SPD_L]/10000;
-    if(data[SPD_MINUS] == 1){
-        encoder_spd *= -1;
-    }
-    return encoder_spd;
-}
-
-float motor::position(){
-    val = mdc_i2c.read(address,data,10,false);
-    position_angle = ((double)data[ANGLE_H])+((double)data[ANGLE_M]/100)+((double)data[ANGLE_L]/10000);
-    if(data[ANGLE_MINUS] == 1){
-        position_angle *= -1;
-        position_angle += DPI;
-    }
-    return position_angle;
-}
-
 //角度を算出して角度を返す(回転数も考慮
 float motor::angle(){
-    val = mdc_i2c.read(address,data,10,false);
-    count = ((data[COUNT_MINUS])?(-1):(1))*data[COUNT_SPIN];
+    val = mdc_i2c.read(address,data,2,false);
+    
+    count = (int)(data[0]) - 128;
     
-    float angle_conv = ((double)data[ANGLE_H])+((double)data[ANGLE_M]/100)+((double)data[ANGLE_L]/10000);
-    if(data[ANGLE_MINUS] == 1){
-        angle_conv *= -1;
-    }
+    position_data = (int)(data[1])*3.6;
+    angle_data = (float)count*36 + position_data/10;
     
-    return(angle_conv+count*6.28);
+    return angle_data;
 }

diff -r a3a2fb1a3ba7 -r 1bbe0d41813e mdc.h
--- a/mdc.h	Tue Apr 30 04:54:26 2019 +0000
+++ b/mdc.h	Thu Jun 27 07:56:29 2019 +0000
@@ -31,19 +31,14 @@
         int count;
         
         float angle();
-        float spd();
-        float position();
         
-    //旧作との互換性を確保するためのメソッド------
-        float spd_e();
-        float angle_e();
-        float position_e();
-    //--------------------------------------
+        float angle_data;
+        float position_data;
 //-----------------------------------------------------------------------------
+        char data[2];
     private:
         char data_reset[2];
         char md_data[2];
-        char data[10];
         
         void result();
         int write_pwm;

diff -r a3a2fb1a3ba7 -r 1bbe0d41813e mdc_old.cpp
--- a/mdc_old.cpp	Tue Apr 30 04:54:26 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,37 +0,0 @@
-#include "mbed.h"
-#include "math.h"
-#include "mdc.h"
-
-//回転回数を数える
-//スピードを算出して、スピードの値を返却
-float motor::spd_e(){
-    val = mdc_i2c.read(address,data,10,false);
-    encoder_spd = (double)data[SPD_H] + (double)data[SPD_M]/100 + (double)data[SPD_L]/10000;
-    if(data[SPD_MINUS] == 1){
-        encoder_spd *= -1;
-    }
-    return encoder_spd;
-}
-
-float motor::position_e(){
-    val = mdc_i2c.read(address,data,10,false);
-    position_angle = ((double)data[ANGLE_H])+((double)data[ANGLE_M]/100)+((double)data[ANGLE_L]/10000);
-    if(data[ANGLE_MINUS] == 1){
-        position_angle *= -1;
-        position_angle += DPI;
-    }
-    return position_angle;
-}
-
-//角度を算出して角度を返す(回転数も考慮
-float motor::angle_e(){
-    val = mdc_i2c.read(address,data,10,false);
-    count = ((data[COUNT_MINUS])?(-1):(1))*data[COUNT_SPIN];
-    
-    float angle_conv = ((double)data[ANGLE_H])+((double)data[ANGLE_M]/100)+((double)data[ANGLE_L]/10000);
-    if(data[ANGLE_MINUS] == 1){
-        angle_conv *= -1;
-    }
-    
-    return(angle_conv+count*6.28);
-}

diff -r a3a2fb1a3ba7 -r 1bbe0d41813e readme.txt
--- a/readme.txt	Tue Apr 30 04:54:26 2019 +0000
+++ b/readme.txt	Thu Jun 27 07:56:29 2019 +0000
@@ -12,8 +12,6 @@
 3.エンコーダの角度と角速度の読み取り(単位はrad基準)
     float spd();        角速度を読み取る.返り値：角速度(rad/s)
     float angle();      角度を読み取る.オーバーフロー注意.返り値：角度(rad)
-    float position();   1周のうちの自己位置を求める。正の値しか返さない。返り値：角度(rad)
-    int count;          angle_e()関数が最後に呼び出された時点での回転数。返り値：回転数
 
 //サンプル----------------------------------------------------------------------
 #include "mbed.h"
@@ -30,9 +28,7 @@
         motor1.move(0.6);
         motor2.move();
         
-        pc.printf("motor1.spd = %.3f\t",motor1.spd());
         pc.printf("motor1.angle = %.3f\t",motor1.angle());
-        pc.printf("motor1.position = %.3f\t",motor1.position());
         pc.printf("\n");
     }
 }
\ No newline at end of file