hirromu takaki / Mbed OS 106_MD_practice

動いた

Dependencies:   lib kohiMD lpf

main.cpp@4:d0a512e71296, 23 months ago (annotated)

Committer:
THtakahiro702286
Date:
Sat Jun 11 07:21:47 2022 +0000
Revision:
4:d0a512e71296
Parent:
3:f09bb38d0909 
6/11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:2762f6b27c5f 1 #include "mbed.h"
THtakahiro702286 1:81190825251c 2 #include "kohiMD.h"
THtakahiro702286 0:2762f6b27c5f 3 #include "lpf.h"
THtakahiro702286 3:f09bb38d0909 4 #include "lib.h"
THtakahiro702286 3:f09bb38d0909 5 Lib lib;
THtakahiro702286 3:f09bb38d0909 6 //KohiMD md[4] = {KohiMD(PA_15), KohiMD(PA_6), KohiMD(PA_7), KohiMD(PB_6)};
THtakahiro702286 3:f09bb38d0909 7 Timer t;
THtakahiro702286 0:2762f6b27c5f 8 lpf mdlpf(1.0/300,0.005);
THtakahiro702286 4:d0a512e71296 9 //DigitalIn b(USER_BUTTON);
THtakahiro702286 4:d0a512e71296 10 PwmOut led(LED1);
THtakahiro702286 4:d0a512e71296 11
THtakahiro702286 0:2762f6b27c5f 12 int main()
THtakahiro702286 0:2762f6b27c5f 13 {
THtakahiro702286 3:f09bb38d0909 14 t.start();
THtakahiro702286 3:f09bb38d0909 15 int p1,p2,b1=0,b2=0,co=0;
THtakahiro702286 4:d0a512e71296 16 float pwm = 0.0,put;
THtakahiro702286 3:f09bb38d0909 17 for(int i=0; i < 4; i++)
THtakahiro702286 0:2762f6b27c5f 18 while (true) {
THtakahiro702286 4:d0a512e71296 19 // b1 = b2-b;
THtakahiro702286 4:d0a512e71296 20 // b2 = b;
THtakahiro702286 4:d0a512e71296 21 // if(b1 == 1)
THtakahiro702286 4:d0a512e71296 22 // {
THtakahiro702286 4:d0a512e71296 23 // co++;
THtakahiro702286 4:d0a512e71296 24 // }
THtakahiro702286 4:d0a512e71296 25 // pwm = (co % 10) / 10.0 - 0.5;
THtakahiro702286 4:d0a512e71296 26 pwm = (float)sin(t.read());
THtakahiro702286 0:2762f6b27c5f 27 for(int i=0; i < 4; i++)
THtakahiro702286 0:2762f6b27c5f 28 {
THtakahiro702286 1:81190825251c 29 if(pwm > 0.5) pwm = 0.5;
THtakahiro702286 1:81190825251c 30 if(pwm < -0.5) pwm = -0.5;
THtakahiro702286 1:81190825251c 31 }
THtakahiro702286 4:d0a512e71296 32 led = put;
THtakahiro702286 1:81190825251c 33 put = 0.5 + pwm / 2.0;
THtakahiro702286 1:81190825251c 34 if(put > 0.9) put = 0.9;
THtakahiro702286 1:81190825251c 35 if(put < 0.1) put = 0.1;
THtakahiro702286 4:d0a512e71296 36 lib.go(pwm);
THtakahiro702286 3:f09bb38d0909 37 p1 = pwm * 100;
THtakahiro702286 3:f09bb38d0909 38 p2 = put * 100;
THtakahiro702286 4:d0a512e71296 39 printf("%d %d \r\n",p1,p2);
THtakahiro702286 3:f09bb38d0909 40 // printf("The time taken was %llu milliseconds\n", duration_cast<milliseconds>(t.elapsed_time()).count());
THtakahiro702286 0:2762f6b27c5f 41 }
THtakahiro702286 4:d0a512e71296 42 }