File content as of revision 9:cccfe63e5d4c:

#include "mbed.h"
#include "QEI.h"
#include "main_new.h"


int main() {    while(true){
    int c =0;                //cはスイッチによって値うける、ｃの値を３パターン規定し、n,mに加算減算することで使えるものにする（または単純に定義してもいいか）
    int s = c;
    int m = c;
    Motor01(1.0);
    
    Motor02(1.0);
    
/*    mypwm.period_ms(10);
    mypwm.pulsewidth_ms(1);  */
 for(int i = s; i < wheel01.getPulses();)
        {       if(wheel01.getPulses()>wheel02.getPulses())
                        {Motor01(1-pid_sample(wheel01.getPulses(),wheel02.getPulses()));}
                else
                {Motor02(1-pid_sample(wheel02.getPulses(),wheel01.getPulses()));}
                
                if(mypwm012<=0.1f&&mypwm022<=0.1f)
                    {mypwm012=mypwm012-0.1f;mypwm022=mypwm022-0.1f;}
                                                            }
    Motor03(0.0);
    
    
wheel01.reset();
wheel02.reset();   //パルス値の初期化
    Motor01(-1.0);         //逆転
    
    Motor02(-1.0);         //逆転 


for(int i = m; i > wheel01.getPulses();)
        {if(wheel01.getPulses()>wheel02.getPulses())
                     {Motor01(1-pid_sample(wheel01.getPulses(),wheel02.getPulses()));}
                else
                     {Motor02(1-pid_sample(wheel02.getPulses(),wheel01.getPulses()));}
                     
                    if(mypwm011>=0.1f&&mypwm021>=0.1f)
                        {mypwm011=mypwm011-0.1f;mypwm022=mypwm022-0.1f;}
                                                            }
            
    myled = 1;   //パルスがmの値にいくまで
    
    Motor01(0.0); 

    Motor02(0.0); 
    


wheel01.reset();
wheel02.reset();    //パルス値の初期化


}
}