hirromu takaki / Mbed OS 06_MD_practice

quad

Dependencies:   haseMD lpf

main.cpp@0:2762f6b27c5f, 2020-01-25 (annotated)

Committer:
THtakahiro702286
Date:
Sat Jan 25 09:13:29 2020 +0000
Revision:
0:2762f6b27c5f
mdpractice

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:2762f6b27c5f 1 #include "mbed.h"
THtakahiro702286 0:2762f6b27c5f 2 #include "haseMD.h"
THtakahiro702286 0:2762f6b27c5f 3 #include "lpf.h"
THtakahiro702286 0:2762f6b27c5f 4
THtakahiro702286 0:2762f6b27c5f 5 HaseMD md[4] = { HaseMD(PA_6),HaseMD(PA_7), HaseMD(PA_9),HaseMD(PB_10) };
THtakahiro702286 0:2762f6b27c5f 6 //DigitalIn DS[3] = { DigitalIn(PC_12), DigitalIn(PC_10), DigitalIn(PD_2) };
THtakahiro702286 0:2762f6b27c5f 7 Timer tim;
THtakahiro702286 0:2762f6b27c5f 8 Serial pc(USBTX,USBRX,115200);
THtakahiro702286 0:2762f6b27c5f 9 lpf mdlpf(1.0/300,0.005);
THtakahiro702286 0:2762f6b27c5f 10 //DigitalIn fallut(PB_6);
THtakahiro702286 0:2762f6b27c5f 11 //DigitalIn otw(PC_7);
THtakahiro702286 0:2762f6b27c5f 12
THtakahiro702286 0:2762f6b27c5f 13 int main()
THtakahiro702286 0:2762f6b27c5f 14 {
THtakahiro702286 0:2762f6b27c5f 15 tim.start();
THtakahiro702286 0:2762f6b27c5f 16 double pwm = 0.0,put;
THtakahiro702286 0:2762f6b27c5f 17
THtakahiro702286 0:2762f6b27c5f 18 while (true) {
THtakahiro702286 0:2762f6b27c5f 19
THtakahiro702286 0:2762f6b27c5f 20 pwm = sin(tim/3.0);
THtakahiro702286 0:2762f6b27c5f 21 for(int i=0; i < 4; i++)
THtakahiro702286 0:2762f6b27c5f 22 {
THtakahiro702286 0:2762f6b27c5f 23 md[i].setSpeed(pwm);
THtakahiro702286 0:2762f6b27c5f 24
THtakahiro702286 0:2762f6b27c5f 25 }
THtakahiro702286 0:2762f6b27c5f 26 mdlpf.path_value(pwm);
THtakahiro702286 0:2762f6b27c5f 27 // pwm += ((pwm < 0.1) - (pwm > 0.9)) * 0.1;
THtakahiro702286 0:2762f6b27c5f 28 // put = 0.5 + pwm / 2.0;
THtakahiro702286 0:2762f6b27c5f 29 put = pwm * 0.9 / 2 + 0.5;
THtakahiro702286 0:2762f6b27c5f 30 pc.printf("%f \n\r",put);
THtakahiro702286 0:2762f6b27c5f 31 }
THtakahiro702286 0:2762f6b27c5f 32 }
THtakahiro702286 0:2762f6b27c5f 33