abanum abanum / Motorfader

first release. It is in the process of creation. Library for Motorfader https://www.switch-science.com/catalog/1285/

Dependents:   nekosensya

Motorfader.cpp@0:6b9fc326f973, 2019-07-29 (annotated)

Committer:
abanum
Date:
Mon Jul 29 05:42:03 2019 +0000
Revision:
0:6b9fc326f973
first release.; It is in the process of creation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
abanum 0:6b9fc326f973 1 /* mbed Motorfader Library
abanum 0:6b9fc326f973 2 *
abanum 0:6b9fc326f973 3 * Copyright (c) 2007-2010 sford, cstyles
abanum 0:6b9fc326f973 4 *
abanum 0:6b9fc326f973 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
abanum 0:6b9fc326f973 6 * of this software and associated documentation files (the "Software"), to deal
abanum 0:6b9fc326f973 7 * in the Software without restriction, including without limitation the rights
abanum 0:6b9fc326f973 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
abanum 0:6b9fc326f973 9 * copies of the Software, and to permit persons to whom the Software is
abanum 0:6b9fc326f973 10 * furnished to do so, subject to the following conditions:
abanum 0:6b9fc326f973 11 *
abanum 0:6b9fc326f973 12 * The above copyright notice and this permission notice shall be included in
abanum 0:6b9fc326f973 13 * all copies or substantial portions of the Software.
abanum 0:6b9fc326f973 14 *
abanum 0:6b9fc326f973 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
abanum 0:6b9fc326f973 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
abanum 0:6b9fc326f973 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
abanum 0:6b9fc326f973 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
abanum 0:6b9fc326f973 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
abanum 0:6b9fc326f973 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
abanum 0:6b9fc326f973 21 * THE SOFTWARE.
abanum 0:6b9fc326f973 22 */
abanum 0:6b9fc326f973 23
abanum 0:6b9fc326f973 24 #include "Motorfader.h"
abanum 0:6b9fc326f973 25 #include "mbed.h"
abanum 0:6b9fc326f973 26
abanum 0:6b9fc326f973 27 Motorfader::Motorfader(PinName anarogpin,PinName cwpin,PinName ccwpin) : _faderPos(anarogpin) ,_cwpwm(cwpin),_ccwpwm(ccwpin) {
abanum 0:6b9fc326f973 28 _cwpwm.period(0.020);
abanum 0:6b9fc326f973 29 _ccwpwm.period(0.020);
abanum 0:6b9fc326f973 30 _cwpwm.write(1.0);
abanum 0:6b9fc326f973 31 _ccwpwm.write(1.0);
abanum 0:6b9fc326f973 32 _setPos = 0.0;
abanum 0:6b9fc326f973 33 _setVel = 1.0;
abanum 0:6b9fc326f973 34 wait_ms(10);
abanum 0:6b9fc326f973 35 }
abanum 0:6b9fc326f973 36
abanum 0:6b9fc326f973 37 void Motorfader::set(float pos,float vel ) {
abanum 0:6b9fc326f973 38 _setPos = pos;
abanum 0:6b9fc326f973 39 _setVel = vel;
abanum 0:6b9fc326f973 40 wait_ms(10);
abanum 0:6b9fc326f973 41 }
abanum 0:6b9fc326f973 42
abanum 0:6b9fc326f973 43 float Motorfader::get() {
abanum 0:6b9fc326f973 44 return _faderPos.read();
abanum 0:6b9fc326f973 45 }
abanum 0:6b9fc326f973 46
abanum 0:6b9fc326f973 47 void Motorfader::update() {
abanum 0:6b9fc326f973 48 float P,D = 0;
abanum 0:6b9fc326f973 49 _nowPos = _faderPos.read();
abanum 0:6b9fc326f973 50 _cwpwm.write(0.0);
abanum 0:6b9fc326f973 51 _ccwpwm.write(0.0);
abanum 0:6b9fc326f973 52
abanum 0:6b9fc326f973 53 P = abs(_setPos - _nowPos)*4.0f;
abanum 0:6b9fc326f973 54 if (P >1.0f )
abanum 0:6b9fc326f973 55 {
abanum 0:6b9fc326f973 56 P =1.0f;
abanum 0:6b9fc326f973 57 // _oldPos = _nowPos;
abanum 0:6b9fc326f973 58 }
abanum 0:6b9fc326f973 59 // D = -abs(_oldPos - _nowPos)*1.0f;
abanum 0:6b9fc326f973 60 // _oldPos = _nowPos;
abanum 0:6b9fc326f973 61 if((_nowPos+0.03f) < _setPos)
abanum 0:6b9fc326f973 62 {
abanum 0:6b9fc326f973 63 _cwpwm.write(_setVel*(P+D));
abanum 0:6b9fc326f973 64 _ccwpwm.write(0.0f);
abanum 0:6b9fc326f973 65 // printf("inc ");
abanum 0:6b9fc326f973 66 }
abanum 0:6b9fc326f973 67 if((_nowPos-0.03f) > _setPos)
abanum 0:6b9fc326f973 68 {
abanum 0:6b9fc326f973 69 _cwpwm.write(0.0f);
abanum 0:6b9fc326f973 70 _ccwpwm.write(_setVel*(P+D));
abanum 0:6b9fc326f973 71 // printf("dec ");
abanum 0:6b9fc326f973 72 }
abanum 0:6b9fc326f973 73 // printf("nowpos=%1.3f setpos==%1.3f\r\n",_nowPos,_setPos);
abanum 0:6b9fc326f973 74
abanum 0:6b9fc326f973 75 }