Diff: Motor_3/Motor_3.cpp

Revision:

0:5d1c1999d61d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor_3/Motor_3.cpp	Mon May 07 06:58:54 2018 +0000
@@ -0,0 +1,60 @@
+#include "Motor_3.h"
+#include "mbed.h"
+#define HIGH 1
+#define LOW 0
+
+extern Serial pc;
+Motor_3::Motor_3(PinName dia1,PinName dia2,PinName pwa):
+    _dia1(dia1),_dia2(dia2),_pwa(pwa),_pwmout(0)
+{
+    //init
+    DigitalOut pda1(_dia1,LOW);
+    DigitalOut pda2(_dia2,LOW);
+}
+
+void Motor_3::mv(double speed)
+{
+//    speed=speed/100*20/1000;
+//    pc.printf("speed=%lf\n",speed);
+
+    if(speed>0)
+    {
+         double temp_pwmout=6*pow(10.0,-10.0)*pow(speed,4.0)-4*pow(10.0,-7.0)*pow(speed,3.0)+3*pow(10.0,-5.0)*pow(speed,2.0)+0.0241*speed+0.0794;//拟合
+//         pc.printf("&&&temp_pwmout:%lf\n",temp_pwmout);
+        int pwmout=(int)temp_pwmout;
+         DigitalOut mydia1(_dia1,HIGH);
+         DigitalOut mydia2(_dia2,LOW);
+//        _pwmout=pwmout;
+        _pwmout=20;
+        PwmOut mypwa(_pwa);
+        mypwa.period_ms(20);
+        mypwa.pulsewidth_ms(_pwmout);
+    }
+    else if (speed<0)
+    {
+       
+        double temp_pwmout=6*pow(10.0,-10.0)*pow(speed,4.0)-4*pow(10.0,-7.0)*pow(speed,3.0)+3*pow(10.0,-5.0)*pow(speed,2.0)+0.0241*speed+0.0794;//拟合
+//        pc.printf("temp_pwmout:%lf\n",temp_pwmout);
+        int pwmout=(int)temp_pwmout;        
+        speed=abs(speed);
+        DigitalOut mydia1(_dia1,LOW);
+        DigitalOut mydia2(_dia2,HIGH);
+//        _pwmout=pwmout;
+        _pwmout=10;
+        pc.printf("%d\n",_pwmout);
+        PwmOut mypwa(_pwa);
+        mypwa.period_ms(20);
+        mypwa.pulsewidth_ms(_pwmout); 
+    }
+    else 
+    {
+        speed=abs(speed);
+        DigitalOut mydia1(_dia1,LOW);
+        DigitalOut mydia2(_dia2,LOW);
+        _pwmout=0.0;
+        PwmOut mypwa(_pwa);
+        mypwa.period_ms(20);
+        mypwa.pulsewidth(_pwmout); 
+    }
+        
+}