廣智 角谷 / Mbed 2 deprecated LineTracer

ライントレーサー制御用のプログラムです．

Dependencies:   mbed

motor.cpp@0:e9af471e2a2b, 2017-11-16 (annotated)

Committer:
Hirotomo777
Date:
Thu Nov 16 06:15:58 2017 +0000
Revision:
0:e9af471e2a2b
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hirotomo777 0:e9af471e2a2b 1
Hirotomo777 0:e9af471e2a2b 2 #include "motor.h"
Hirotomo777 0:e9af471e2a2b 3 BusOut leftc(PTA1,PTA2);
Hirotomo777 0:e9af471e2a2b 4 PwmOut leftp(PTD4);
Hirotomo777 0:e9af471e2a2b 5
Hirotomo777 0:e9af471e2a2b 6 BusOut rightc(PTC0,PTC7);
Hirotomo777 0:e9af471e2a2b 7 PwmOut rightp(PTA12);
Hirotomo777 0:e9af471e2a2b 8
Hirotomo777 0:e9af471e2a2b 9 PwmOut handle(PTC9);
Hirotomo777 0:e9af471e2a2b 10
Hirotomo777 0:e9af471e2a2b 11 //start code for servo
Hirotomo777 0:e9af471e2a2b 12 void servoInit(){
Hirotomo777 0:e9af471e2a2b 13 handle.period(0.020);
Hirotomo777 0:e9af471e2a2b 14 handle.pulsewidth(0.00155);
Hirotomo777 0:e9af471e2a2b 15 wait(0.5);
Hirotomo777 0:e9af471e2a2b 16 }
Hirotomo777 0:e9af471e2a2b 17
Hirotomo777 0:e9af471e2a2b 18
Hirotomo777 0:e9af471e2a2b 19 void rotate(PwmOut servo,float ppulse,float *npulse){
Hirotomo777 0:e9af471e2a2b 20 if(ppulse > *npulse){
Hirotomo777 0:e9af471e2a2b 21 if(ppulse > 0.002){
Hirotomo777 0:e9af471e2a2b 22 ppulse = 0.002;
Hirotomo777 0:e9af471e2a2b 23 }
Hirotomo777 0:e9af471e2a2b 24 servo.pulsewidth(ppulse); // servo position determined by a pulsewidth between 1-2ms
Hirotomo777 0:e9af471e2a2b 25 wait(1000.0 * 0.06 * ((ppulse - (*npulse)) / 0.1));
Hirotomo777 0:e9af471e2a2b 26 }
Hirotomo777 0:e9af471e2a2b 27 else {
Hirotomo777 0:e9af471e2a2b 28 if(ppulse < 0.0011){
Hirotomo777 0:e9af471e2a2b 29 ppulse = 0.0011;
Hirotomo777 0:e9af471e2a2b 30 }
Hirotomo777 0:e9af471e2a2b 31 servo.pulsewidth(ppulse); // servo position determined by a pulsewidth between 1-2ms
Hirotomo777 0:e9af471e2a2b 32 wait(1000.0 * 0.06 * (((*npulse) - ppulse) / 0.1));
Hirotomo777 0:e9af471e2a2b 33 }
Hirotomo777 0:e9af471e2a2b 34 *npulse = ppulse;
Hirotomo777 0:e9af471e2a2b 35 }
Hirotomo777 0:e9af471e2a2b 36
Hirotomo777 0:e9af471e2a2b 37 /*
Hirotomo777 0:e9af471e2a2b 38 float rotate(PwmOut servo,float ppulse){
Hirotomo777 0:e9af471e2a2b 39 static float npulse = 0.00155;
Hirotomo777 0:e9af471e2a2b 40 if(ppulse > npulse){
Hirotomo777 0:e9af471e2a2b 41 if(ppulse > 0.002){
Hirotomo777 0:e9af471e2a2b 42 ppulse = 0.002;
Hirotomo777 0:e9af471e2a2b 43 }
Hirotomo777 0:e9af471e2a2b 44 servo.pulsewidth(ppulse); // servo position determined by a pulsewidth between 1-2ms
Hirotomo777 0:e9af471e2a2b 45 wait(1000.0 * 0.06 * ((ppulse - (npulse)) / 0.1));
Hirotomo777 0:e9af471e2a2b 46 }
Hirotomo777 0:e9af471e2a2b 47 else {
Hirotomo777 0:e9af471e2a2b 48 if(ppulse < 0.0011){
Hirotomo777 0:e9af471e2a2b 49 ppulse = 0.0011;
Hirotomo777 0:e9af471e2a2b 50 }
Hirotomo777 0:e9af471e2a2b 51 servo.pulsewidth(ppulse); // servo position determined by a pulsewidth between 1-2ms
Hirotomo777 0:e9af471e2a2b 52 wait(1000.0 * 0.06 * (((npulse) - ppulse) / 0.1));
Hirotomo777 0:e9af471e2a2b 53 }
Hirotomo777 0:e9af471e2a2b 54 npulse = ppulse;
Hirotomo777 0:e9af471e2a2b 55 return npulse;
Hirotomo777 0:e9af471e2a2b 56 }
Hirotomo777 0:e9af471e2a2b 57 */
Hirotomo777 0:e9af471e2a2b 58 //end
Hirotomo777 0:e9af471e2a2b 59
Hirotomo777 0:e9af471e2a2b 60 //start code for DCmotor
Hirotomo777 0:e9af471e2a2b 61 void motorInit(){
Hirotomo777 0:e9af471e2a2b 62 leftc = 0;
Hirotomo777 0:e9af471e2a2b 63 leftp = 1.0f;
Hirotomo777 0:e9af471e2a2b 64 rightc = 0;
Hirotomo777 0:e9af471e2a2b 65 rightp = 1.0f;
Hirotomo777 0:e9af471e2a2b 66 }
Hirotomo777 0:e9af471e2a2b 67
Hirotomo777 0:e9af471e2a2b 68 void start(){
Hirotomo777 0:e9af471e2a2b 69 leftc = 1;
Hirotomo777 0:e9af471e2a2b 70 rightc = 1;
Hirotomo777 0:e9af471e2a2b 71 }
Hirotomo777 0:e9af471e2a2b 72
Hirotomo777 0:e9af471e2a2b 73 void stop(){
Hirotomo777 0:e9af471e2a2b 74 leftc = 0;
Hirotomo777 0:e9af471e2a2b 75 rightc = 0;
Hirotomo777 0:e9af471e2a2b 76 }
Hirotomo777 0:e9af471e2a2b 77 //end