Revision 4:d0a512e71296, committed 2022-06-11

Comitter:

THtakahiro702286

Date:

Sat Jun 11 07:21:47 2022 +0000

Parent:

3:f09bb38d0909

Commit message:

6/11

Changed in this revision

--- a/kohiMD.lib	Thu Mar 04 10:51:22 2021 +0000
+++ b/kohiMD.lib	Sat Jun 11 07:21:47 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/Quadrifoglio/code/kohiMD/#89c4237ef94a
+https://os.mbed.com/teams/Quadrifoglio/code/kohiMD/#4c656817ca59

--- a/main.cpp	Thu Mar 04 10:51:22 2021 +0000
+++ b/main.cpp	Sat Jun 11 07:21:47 2022 +0000
@@ -1,67 +1,42 @@
 #include "mbed.h"
-//#include <math.h>
 #include "kohiMD.h"
 #include "lpf.h"
 #include "lib.h"
-
-//using namespace std::chrono;
-
 Lib lib;
 //KohiMD md[4] = {KohiMD(PA_15), KohiMD(PA_6), KohiMD(PA_7), KohiMD(PB_6)};
-//DigitalOut output[4] = {DigitalOut(PB_6),DigitalOut(PC_7),DigitalOut(PB_5),DigitalOut(PA_10)};
-//DigitalIn DS[3] = { DigitalIn(PC_12), DigitalIn(PC_10), DigitalIn(PD_2) };
 Timer t;
-//Serial pc(USBTX,USBRX,115200);
 lpf mdlpf(1.0/300,0.005);
-//DigitalIn fallut(PB_6);
-//DigitalIn otw(PC_7);
-DigitalIn b(USER_BUTTON);
-DigitalOut led(LED1);
-
+//DigitalIn b(USER_BUTTON);
+PwmOut led(LED1);
+ 
 int main()
 {
     t.start();
     int p1,p2,b1=0,b2=0,co=0;
-    double pwm = 0.0,put;
+    float pwm = 0.0,put;
     for(int i=0; i < 4; i++)
-    {
-//        output[i] = 1;
-    }
     while (true) {
-        
-//        pwm = sin(duration_cast<milliseconds>(t.elapsed_time()).count() / 1000.0);
-
-        b1 = b2-b;
-        b2 = b;
-        if(b1 == 1)
-        {
-            co++;
-        }
-        pwm = (co % 10) / 10.0 - 0.5;
-
-
-
-
+//        b1 = b2-b;
+//        b2 = b;
+//        if(b1 == 1)
+//        {
+//            co++;
+//        }
+//        pwm = (co % 10) / 10.0 - 0.5;
+        pwm = (float)sin(t.read());
         for(int i=0; i < 4; i++)
         {
             if(pwm > 0.5) pwm = 0.5;
             if(pwm < -0.5) pwm = -0.5;
-//            if(b) pwm = 0; 
-//            md[i].setSpeed(pwm);
                     }
-        led = b;
-//        mdlpf.path_value(pwm);
-//        pwm += ((pwm < 0.1) - (pwm > 0.9)) * 0.1;
+        led = put;
         put = 0.5 + pwm / 2.0;
         if(put > 0.9) put = 0.9;
         if(put < 0.1) put = 0.1;
-//        put = pwm * 0.9 / 2 + 0.5;
-        //pc.printf("%f \n\r",put);
-        lib.go(0.0);
+        lib.go(pwm);
         p1 = pwm * 100;
         p2 = put * 100;
-        printf("%d %d %d %d %d\r\n",p1,p2,(int)b,b1,b2);
+        printf("%d %d \r\n",p1,p2);
 //        printf("The time taken was %llu milliseconds\n", duration_cast<milliseconds>(t.elapsed_time()).count());
     }
-}
-
+}
\ No newline at end of file

--- a/mbed-os.lib	Thu Mar 04 10:51:22 2021 +0000
+++ b/mbed-os.lib	Sat Jun 11 07:21:47 2022 +0000
@@ -1,1 +1,1 @@
-https://github.com/ARMmbed/mbed-os/#bfde5aa1e74802771eaeacfa74789f71677325cb
+https://github.com/ARMmbed/mbed-os/#b1796dedeb8accde1cbaecf136fab96895e23d81