Test moteur
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of TestBoardv2_boussole_pixi by
main.cpp@9:53dd6df76cf8, 2017-06-09 (annotated)
- Committer:
- Dvlader
- Date:
- Fri Jun 09 16:53:32 2017 +0000
- Revision:
- 9:53dd6df76cf8
- Parent:
- 8:527f5db9b3dc
- Child:
- 10:a98764d33fd5
Vrais moteur command l'autre a ?t? renomm? sans faire expr?s;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:f00e68bef80c | 1 | #include "mbed.h" |
haarkon | 0:f00e68bef80c | 2 | #include "PwmIn.h" |
haarkon | 0:f00e68bef80c | 3 | #include "Nucleo_Encoder_16_bits.h" |
haarkon | 0:f00e68bef80c | 4 | |
Dvlader | 9:53dd6df76cf8 | 5 | #define Rotation 1, 100, -1, 100 |
Dvlader | 9:53dd6df76cf8 | 6 | #define Vitesse1 1, 50, 1, 50 |
Dvlader | 9:53dd6df76cf8 | 7 | #define Vitesse2 1, 100, 1, 100 |
haarkon | 0:f00e68bef80c | 8 | |
haarkon | 0:f00e68bef80c | 9 | PwmOut Pwm_MG (PB_10); |
haarkon | 0:f00e68bef80c | 10 | PwmOut Pwm_MD (PB_3); |
Dvlader | 9:53dd6df76cf8 | 11 | DigitalOut En (PC_9); |
Dvlader | 9:53dd6df76cf8 | 12 | DigitalOut SensG (PC_8); |
Dvlader | 9:53dd6df76cf8 | 13 | DigitalOut SensD (PC_6); |
haarkon | 0:f00e68bef80c | 14 | |
Dvlader | 9:53dd6df76cf8 | 15 | void moteur_command(double sensD, double pwmD, double sensG, double pwmG); |
haarkon | 0:f00e68bef80c | 16 | |
Dvlader | 9:53dd6df76cf8 | 17 | void main (void) |
haarkon | 6:88b4805d33e1 | 18 | { |
Dvlader | 9:53dd6df76cf8 | 19 | moteur_command(Rotation); |
Dvlader | 9:53dd6df76cf8 | 20 | wait_ms(500); |
Dvlader | 9:53dd6df76cf8 | 21 | moteur_command(Vitesse1); |
Dvlader | 9:53dd6df76cf8 | 22 | wait_ms(500); |
Dvlader | 9:53dd6df76cf8 | 23 | moteur_command(Vitesse2); |
Dvlader | 9:53dd6df76cf8 | 24 | wait_ms(500); |
haarkon | 2:1d440e938c44 | 25 | } |
haarkon | 2:1d440e938c44 | 26 | |
Dvlader | 9:53dd6df76cf8 | 27 | void moteur_command(double sensD, double pwmD, double sensG, double pwmG) |
haarkon | 0:f00e68bef80c | 28 | { |
Dvlader | 9:53dd6df76cf8 | 29 | En = 1; |
Dvlader | 9:53dd6df76cf8 | 30 | SensD = sensD; |
Dvlader | 9:53dd6df76cf8 | 31 | Pwm_MD = pwmD; |
Dvlader | 9:53dd6df76cf8 | 32 | SensG = sensG; |
Dvlader | 9:53dd6df76cf8 | 33 | Pwm_MG = pwmG; |
Dvlader | 9:53dd6df76cf8 | 34 | } |