hirromu takaki / haseMD

hase(kari)

haseMD.cpp@0:24c2a636c6f0, 2020-01-25 (annotated)

Committer:
THtakahiro702286
Date:
Sat Jan 25 09:11:44 2020 +0000
Revision:
0:24c2a636c6f0
mdpactice;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:24c2a636c6f0 1 #include "haseMD.h"
THtakahiro702286 0:24c2a636c6f0 2 #include "mbed.h"
THtakahiro702286 0:24c2a636c6f0 3
THtakahiro702286 0:24c2a636c6f0 4 HaseMD::HaseMD(PinName pwmPin) : pwmMD(pwmPin),
THtakahiro702286 0:24c2a636c6f0 5 mdlpf(1.0/300,0.005)
THtakahiro702286 0:24c2a636c6f0 6 {
THtakahiro702286 0:24c2a636c6f0 7 pwmMD.period(1.0/250000.0);
THtakahiro702286 0:24c2a636c6f0 8 threadMD.start(callback(this, &HaseMD::MDloop));
THtakahiro702286 0:24c2a636c6f0 9 }
THtakahiro702286 0:24c2a636c6f0 10
THtakahiro702286 0:24c2a636c6f0 11 void HaseMD::setSpeed(double speed_)
THtakahiro702286 0:24c2a636c6f0 12 {
THtakahiro702286 0:24c2a636c6f0 13 speed = speed_;
THtakahiro702286 0:24c2a636c6f0 14 }
THtakahiro702286 0:24c2a636c6f0 15
THtakahiro702286 0:24c2a636c6f0 16 void HaseMD::MDloop()
THtakahiro702286 0:24c2a636c6f0 17 {
THtakahiro702286 0:24c2a636c6f0 18 while(true){
THtakahiro702286 0:24c2a636c6f0 19 _pwmMD = mdlpf.path_value(speed);
THtakahiro702286 0:24c2a636c6f0 20 _pwmMD += ((_pwmMD < 0.1) - (_pwmMD > 0.9)) * 0.1;
THtakahiro702286 0:24c2a636c6f0 21 pwmMD = 0.5 + _pwmMD /2.0;
THtakahiro702286 0:24c2a636c6f0 22 ThisThread::sleep_for(1000.0/400);
THtakahiro702286 0:24c2a636c6f0 23 // threadMD.wait(1000.0/400);
THtakahiro702286 0:24c2a636c6f0 24 }
THtakahiro702286 0:24c2a636c6f0 25 }