Diff: main.cpp

Revision:

4:6ccbf4d3cb6d

Parent:

3:b6b9b8c7dce6

Child:

5:2e53814aae4c

--- a/main.cpp	Fri Nov 16 01:42:30 2012 +0000
+++ b/main.cpp	Fri Nov 16 02:48:01 2012 +0000
@@ -5,7 +5,7 @@
 #include "QEI.h"
 #define PI 3.14159265358979 // def. of PI
 /*********** User setting for control parameters (begin) ***************/
-#define SIMULATION          // Comment this line if not simulation
+//#define SIMULATION          // Comment this line if not simulation
 #define USE_PWM             // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. Comment if use Vref=analog mode
 #define CONTROL_MODE    0   // 0:PID control, 1:Frequency response, 2:Step response
 #define GOOD_DATA           // Comment this line if the length of data TMAX/TS2 > 1000
@@ -58,10 +58,11 @@
   PwmOut FIN(FIN_PORT);     // PWM for FIN, RIN=0 when forward rotation. H bridge driver PWM mode
   PwmOut RIN(RIN_PORT);     // PWM for RIN, FIN=0 when reverse rotation. H bridge driver PWM mode
 #else                       // H bridge Vref=analog mode
-  AnalogOut   analog_out(VREF_PORT);// Vref for DC motor H bridge driver. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V]
   DigitalOut  FIN(FIN_PORT);// FIN  for DC motor H bridge driver. FIN=1, RIN=0 then forward rotation
   DigitalOut  RIN(RIN_PORT);// RIN  for DC motor H bridge driver. FIN=0, RIN=1 then reverse rotation
 #endif
+AnalogOut   analog_out(VREF_PORT);// Vref for DC motor H bridge driver. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V]
+
 unsigned long _count;   // sampling number
 float   _time;          // time[s]
 float   _r;             // reference signal
@@ -114,6 +115,7 @@
     }
 #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
+    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
     analog_out = duty;          // setting Vref : PID write DA, range is 0-1. Output voltage 0-3.3v