変な加速
Revision 1:d0b60b54e3bd, committed 2017-10-25
- Comitter:
- fujikenac
- Date:
- Wed Oct 25 09:29:53 2017 +0000
- Parent:
- 0:29872002539b
- Commit message:
- add direct_control function
Changed in this revision
P_motor.cpp | Show annotated file Show diff for this revision Revisions of this file |
P_motor.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/P_motor.cpp Fri Oct 20 09:56:12 2017 +0000 +++ b/P_motor.cpp Wed Oct 25 09:29:53 2017 +0000 @@ -26,7 +26,7 @@ void P_motor::run() { motor = output_m; - pc.printf("%+3f\n\r", output_m); + //pc.printf("%+3f\n\r", output_m); } void P_motor::compute() @@ -46,6 +46,7 @@ { //output[1] = -target / 2; free(); + //output_reset(target / -2.0f); } else { @@ -64,6 +65,12 @@ } } +void P_motor::direct_controll(double target_) +{ + motor = target_; + output_reset(); +} + void P_motor::free() { motor.free();
--- a/P_motor.h Fri Oct 20 09:56:12 2017 +0000 +++ b/P_motor.h Wed Oct 25 09:29:53 2017 +0000 @@ -15,7 +15,6 @@ double time_old; double RC, LC; void compute(); - void calc(); void timer_reset(); void output_reset(double value = 0); enum status @@ -28,6 +27,7 @@ public: P_motor(I2C *i2c_, char addr_); P_motor& operator=(double target_); + void direct_controll(double target_); void run(); void free(); void stop();