kusano kiyoshige / motor_drive

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

motor_drive.cpp@0:aefa71eaf32a, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 05:24:19 2017 +0000
Revision:
0:aefa71eaf32a
????2??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:aefa71eaf32a 1 #include "motor_drive.h"
echo_piyo 0:aefa71eaf32a 2
echo_piyo 0:aefa71eaf32a 3 MotorDrive::MotorDrive (PinName Direction,PinName Pwm) : direction(Direction), pwm(Pwm){
echo_piyo 0:aefa71eaf32a 4 direction = 0;
echo_piyo 0:aefa71eaf32a 5 pwm = 0;
echo_piyo 0:aefa71eaf32a 6 }
echo_piyo 0:aefa71eaf32a 7
echo_piyo 0:aefa71eaf32a 8 void MotorDrive::setup(float frequency, float acceleration, float timerCycle){
echo_piyo 0:aefa71eaf32a 9 float period = 1/frequency;
echo_piyo 0:aefa71eaf32a 10 pwm.period(period);
echo_piyo 0:aefa71eaf32a 11 a = acceleration*timerCycle;
echo_piyo 0:aefa71eaf32a 12 }
echo_piyo 0:aefa71eaf32a 13
echo_piyo 0:aefa71eaf32a 14 void MotorDrive::output(float targetDuty){
echo_piyo 0:aefa71eaf32a 15 if (fabs(targetDuty-duty) <= a) {
echo_piyo 0:aefa71eaf32a 16 duty = targetDuty;
echo_piyo 0:aefa71eaf32a 17 } else if (duty < targetDuty) {
echo_piyo 0:aefa71eaf32a 18 duty = duty + a;
echo_piyo 0:aefa71eaf32a 19 } else if (duty > targetDuty) {
echo_piyo 0:aefa71eaf32a 20 duty = duty - a;
echo_piyo 0:aefa71eaf32a 21 }
echo_piyo 0:aefa71eaf32a 22
echo_piyo 0:aefa71eaf32a 23 if (duty < 0) {
echo_piyo 0:aefa71eaf32a 24 direction = 1;
echo_piyo 0:aefa71eaf32a 25 if (duty > DUTY_LIMIT) {
echo_piyo 0:aefa71eaf32a 26 duty = DUTY_LIMIT;
echo_piyo 0:aefa71eaf32a 27 }
echo_piyo 0:aefa71eaf32a 28 } else {
echo_piyo 0:aefa71eaf32a 29 direction = 0;
echo_piyo 0:aefa71eaf32a 30 if (duty < -DUTY_LIMIT) {
echo_piyo 0:aefa71eaf32a 31 duty = -DUTY_LIMIT;
echo_piyo 0:aefa71eaf32a 32 }
echo_piyo 0:aefa71eaf32a 33 }
echo_piyo 0:aefa71eaf32a 34
echo_piyo 0:aefa71eaf32a 35 pwm = fabs(duty);
echo_piyo 0:aefa71eaf32a 36 }