Diff: main.cpp

Revision:

17:10be89ff33e8

Parent:

16:759d6f647c83

--- a/main.cpp	Sat Dec 08 05:27:35 2012 +0000
+++ b/main.cpp	Sat Dec 08 05:57:32 2012 +0000
@@ -1,5 +1,5 @@
 //  DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase.
-//      ver. 121208b by Kosaka lab.
+//      ver. 121208c by Kosaka lab.
 #include "mbed.h"
 #include "rtos.h"
 #include "QEI.h"
@@ -109,6 +109,7 @@
     float           duty;
     unsigned int    f_deadtime, f_in, r_in;
 
+//    u=-u;   // Set PWM Minus logic for smooth shunt current
     if( u > 0 ){        // forward: rotate to plus
         u += DEADZONE_PLUS; // deadzone compensation
         duty = u/3.3;       // Vref
@@ -141,6 +142,7 @@
     }
 #ifdef USE_PWM  // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0
     FIN = duty*(float)f_in;    RIN = duty*(float)r_in;  // setting pwm FIN & RIN
+//    FIN = (1-duty*(float)f_in);    RIN = (1-duty*(float)r_in);  // setting pwm FIN & RIN. Minus logic for smooth shunt current
     analog_out = 1;          // setting Vref=UMAX, but Vref=Vcc is better.
 #else           //       Analog mode: Vref=analog, FIN, RIN = 1 or 0)
     FIN = f_in;    RIN = r_in;  // setting FIN & RIN
@@ -420,8 +422,8 @@
         pc.printf("Control start!!\r\n");
         motor_control();    // motor control ON for TMAX seconds.
         pc.printf("Control completed!!\r\n\r\n");
-        ThreadTimerTS3.terminate();
-        ThreadTimerTS4.terminate();
+//        ThreadTimerTS3.terminate();
+//        ThreadTimerTS4.terminate();
 
         // Change parameters using tera term
 #if CONTROL_MODE>=1     // frequency response, or Step response