MakoTr 315 / Mbed 2 deprecated Motor_PWM_Eidan05

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Dependencies:   mbed

main.cpp

Committer:
Makoppe
Date:
2020-08-02
Revision:
0:2cedfd753855

File content as of revision 0:2cedfd753855:

#include "mbed.h"

AnalogIn IN(A0);
DigitalOut MotorP(D2);
DigitalOut MotorM(D3);

int main() {
  double InVal;
  double AbsVal;
  int PwmPeriod=420;//423
    while(1) {
        InVal=IN.read();
        InVal=((InVal-0.5)*2.0);
        AbsVal=fabs(InVal);


        PwmPeriod=3325;         //
        if(AbsVal>0.9){                         //
            PwmPeriod=3325;
        }else if(AbsVal>0.8){
            PwmPeriod=1640;
        }else if(AbsVal>0.16){
            PwmPeriod=1050;
        }else if(AbsVal>0.11){                   //
            PwmPeriod=1640;
        }else if(AbsVal>0.06){
            PwmPeriod=3325;
        }else if(AbsVal>0.01){
            PwmPeriod=6663;
        }
        //printf("%f   ",InVal);
        
        
        if(InVal>0){
            MotorP=1;
            MotorM=0;
            wait_us(PwmPeriod*InVal);
            MotorP=0;
            MotorM=0;
            wait_us(PwmPeriod-PwmPeriod*InVal);
        }else if(InVal<0){
            MotorP=0;
            MotorM=1;
            wait_us(PwmPeriod*-InVal);
            MotorP=0;
            MotorM=0;
            wait_us(PwmPeriod-PwmPeriod*-InVal);
        }else{
            MotorP=0;
            MotorM=0;
            wait_us(PwmPeriod);
        }
        //printf("%d\n\r",(int)(PwmPeriod*InVal));
    }
}