tarou yamada / NewMD2_GMD_lib

動作確認済み

GMD.cpp@2:858781a5bbd1, 2016-07-03 (annotated)

Committer:
inst
Date:
Sun Jul 03 01:20:22 2016 +0000
Revision:
2:858781a5bbd1
Parent:
1:9d066dbe1893 
set?duty???????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
inst 1:9d066dbe1893 1 #include <algorithm>
inst 0:010c6f6ac7c0 2 #include "GMD.hpp"
inst 0:010c6f6ac7c0 3
inst 0:010c6f6ac7c0 4 const float GMD::_frequency_to_tick_coeff = 3300.0f;
inst 0:010c6f6ac7c0 5 const uint32_t GMD::_default_frequency_kHz = 50;
inst 0:010c6f6ac7c0 6 const float GMD::_duty_lower_limit = 0.0f;
inst 0:010c6f6ac7c0 7 const float GMD::_duty_upper_limit = 1.0f;
inst 0:010c6f6ac7c0 8
inst 0:010c6f6ac7c0 9 GMD::GMD(PinName p0, PinName p1, PinName shut_down) : _shut_down(shut_down, 1) {
inst 0:010c6f6ac7c0 10 _pwm[0] = new FastPWM(p0);
inst 0:010c6f6ac7c0 11 _pwm[1] = new FastPWM(p1);
inst 0:010c6f6ac7c0 12
inst 0:010c6f6ac7c0 13 set_frequency_kHz(_default_frequency_kHz);
inst 0:010c6f6ac7c0 14 }
inst 0:010c6f6ac7c0 15
inst 0:010c6f6ac7c0 16 void GMD::set_frequency_kHz(float f_kHz) {
inst 0:010c6f6ac7c0 17 _pwm[0]->period_ticks(_frequency_to_tick_coeff / f_kHz);
inst 0:010c6f6ac7c0 18 _pwm[1]->period_ticks(_frequency_to_tick_coeff / f_kHz);
inst 0:010c6f6ac7c0 19 }
inst 0:010c6f6ac7c0 20
inst 2:858781a5bbd1 21 float sign(float n) {
inst 2:858781a5bbd1 22 if (n < 0.0f) {
inst 2:858781a5bbd1 23 return -1.0f;
inst 2:858781a5bbd1 24 }
inst 2:858781a5bbd1 25 return 1.0f;
inst 2:858781a5bbd1 26 }
inst 2:858781a5bbd1 27
inst 0:010c6f6ac7c0 28 float GMD::set(float p) {
inst 2:858781a5bbd1 29 p = std::max(-1.0f, std::min(p, 1.0f));
inst 2:858781a5bbd1 30 p = (abs(p) * (_duty_upper_limit - _duty_lower_limit) + _duty_lower_limit) * sign(p);
inst 1:9d066dbe1893 31
inst 0:010c6f6ac7c0 32 if (p < 0.0f) {
inst 2:858781a5bbd1 33 _pwm[0]->write(-p);
inst 0:010c6f6ac7c0 34 _pwm[1]->write(0.0f);
inst 0:010c6f6ac7c0 35 } else {
inst 0:010c6f6ac7c0 36 _pwm[0]->write(0.0f);
inst 0:010c6f6ac7c0 37 _pwm[1]->write(p);
inst 0:010c6f6ac7c0 38 }
inst 0:010c6f6ac7c0 39 _shut_down = 1;
inst 0:010c6f6ac7c0 40 return p;
inst 0:010c6f6ac7c0 41 }
inst 0:010c6f6ac7c0 42
inst 0:010c6f6ac7c0 43 void GMD::release() {
inst 0:010c6f6ac7c0 44 _shut_down = 0;
inst 0:010c6f6ac7c0 45 }
inst 0:010c6f6ac7c0 46
inst 0:010c6f6ac7c0 47 float GMD::operator=(float p) {
inst 0:010c6f6ac7c0 48 return set(p);
inst 0:010c6f6ac7c0 49 }
inst 0:010c6f6ac7c0 50