Revision 6:9f932b9adee5, committed 2019-10-03

Comitter:

ec30109b

Date:

Thu Oct 03 08:42:09 2019 +0000

Parent:

5:1d0e66198bb4

Commit message:

Schmidt trigger only one.

Changed in this revision

--- a/towelest.cpp	Mon Sep 23 12:21:49 2019 +0000
+++ b/towelest.cpp	Thu Oct 03 08:42:09 2019 +0000
@@ -1,21 +1,17 @@
-#include "towelest.h"
+#include "towelest.h"               //manual mode
 
-towelest::towelest(Serial* RS485,int address,PinName Limit0,PinName Limit1,PinName Limit2):
-pid(4.0, 0, 0.001, 0.01),
-LimitSW0(Limit0),
-LimitSW1(Limit1),
-LimitSW2(Limit2)
+towelest::towelest(Serial* RS485,int address,PinName Limit0):
+pid(7.0, 0, 0, 0.01),
+LimitSW0(Limit0)
 {
-    Motor = new ikarashiMDC*[3];
+    Motor = new ikarashiMDC*[2];
     Motor[0] = new ikarashiMDC(address,0,SM,RS485);
-    Motor[1] = new ikarashiMDC(address,1,SM,RS485);
-    Motor[2] = new ikarashiMDC(address,2,SM,RS485);      
+    Motor[1] = new ikarashiMDC(address,1,SM,RS485);     
       
     Motor[0]->braking = true;
     Motor[1]->braking = true;
-    Motor[2]->braking = true;
     
-    pid.setInputLimits(-1800, 1800);
+    pid.setInputLimits(-6000, 6000);
     pid.setOutputLimits(-0.6,0.6);
     pid.setBias(0.0);
     pid.setMode(AUTO_MODE);
@@ -27,39 +23,14 @@
 {
     if(LimitSW0.read() == 1){
         Motor[0]->setSpeed(0);
-        Motor[1]->setSpeed(0);
     }else{
         Motor[0]->setSpeed(-0.2);
-        Motor[1]->setSpeed(0);
     }
 }
 
 void towelest::close()
 {
     Motor[0]->setSpeed(0.2);
-    Motor[1]->setSpeed(0);
-}
-    
-void towelest::lift()
-{
-    if(LimitSW1.read() == 1){
-        Motor[0]->setSpeed(0);
-        Motor[1]->setSpeed(0);
-    }else{
-        Motor[0]->setSpeed(0);
-        Motor[1]->setSpeed(0.8);
-    }
-}
-
-void towelest::descent()
-{
-    if(LimitSW2.read() == 1){
-        Motor[0]->setSpeed(0);
-        Motor[1]->setSpeed(0);
-    }else{
-        Motor[0]->setSpeed(0);
-        Motor[1]->setSpeed(-0.8);
-    }
 }
 
 void towelest::setPoint(int target)
@@ -76,14 +47,13 @@
 {
     pid.setProcessValue(loli);
     compute = pid.compute();
-    Motor[2]->setSpeed(compute);
+    Motor[1]->setSpeed(compute);
         //pc.printf("%d  %d  %f \n\r",Limit1,Limit2,Limit3,RotationDistance);
 }
 
 void towelest::allstop()
 {
     Motor[0]->setSpeed(0);
-    Motor[1]->setSpeed(0);
-    Motor[2]->setSpeed(0);
+//    Motor[1]->setSpeed(0);
 }
 

--- a/towelest.h	Mon Sep 23 12:21:49 2019 +0000
+++ b/towelest.h	Thu Oct 03 08:42:09 2019 +0000
@@ -11,11 +11,9 @@
 class towelest 
 {
 public:
-    towelest(Serial* RS485,int address,PinName Limit0,PinName Limit1,PinName Limit2); 
+    towelest(Serial* RS485,int address,PinName Limit0); 
     void open();                 //展開
     void close();                //!展開
-    void lift();                 //機構昇降
-    void descent();              //機構降下
     void setPoint(int target);   //pid目標値
     void setPulse(int Loli);     //毎ループで呼び出し
     void pid_compute();          //毎ループで呼び出し
@@ -24,8 +22,6 @@
     ikarashiMDC **Motor;
     PID pid;
     DigitalIn LimitSW0;
-    DigitalIn LimitSW1;
-    DigitalIn LimitSW2;
     Timer timer;
     float compute;
     float time;