Diff: Motorfader.cpp

Revision:

0:6b9fc326f973

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motorfader.cpp	Mon Jul 29 05:42:03 2019 +0000
@@ -0,0 +1,75 @@
+/* mbed Motorfader Library
+ *  
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+ 
+#include "Motorfader.h"
+#include "mbed.h"
+
+Motorfader::Motorfader(PinName anarogpin,PinName cwpin,PinName ccwpin) : _faderPos(anarogpin) ,_cwpwm(cwpin),_ccwpwm(ccwpin) {
+    _cwpwm.period(0.020);
+    _ccwpwm.period(0.020);
+    _cwpwm.write(1.0);
+    _ccwpwm.write(1.0);
+    _setPos = 0.0;
+    _setVel = 1.0;
+    wait_ms(10);
+}
+
+void Motorfader::set(float pos,float vel ) {
+    _setPos = pos;
+    _setVel = vel;
+    wait_ms(10);
+}
+
+float Motorfader::get() {
+    return _faderPos.read();
+}
+
+void Motorfader::update() {
+float P,D = 0;
+    _nowPos = _faderPos.read();
+    _cwpwm.write(0.0);
+    _ccwpwm.write(0.0);
+
+    P = abs(_setPos - _nowPos)*4.0f;
+    if (P >1.0f )
+    { 
+        P =1.0f;
+//        _oldPos = _nowPos;
+    }
+//    D = -abs(_oldPos - _nowPos)*1.0f;
+//    _oldPos = _nowPos;
+    if((_nowPos+0.03f) < _setPos)
+    {
+        _cwpwm.write(_setVel*(P+D));
+        _ccwpwm.write(0.0f);
+//        printf("inc ");
+    }
+    if((_nowPos-0.03f) > _setPos)
+    {
+        _cwpwm.write(0.0f);
+        _ccwpwm.write(_setVel*(P+D));
+//        printf("dec ");
+    }
+//        printf("nowpos=%1.3f setpos==%1.3f\r\n",_nowPos,_setPos);
+
+}