コウスケ スズキ
amazon
Revision 0:1ce8dacdff38, committed 2022-02-23
- Comitter:
- kosukesuzuki
- Date:
- Wed Feb 23 06:16:49 2022 +0000
- Commit message:
- PIDledcontrol
Changed in this revision
diff -r 000000000000 -r 1ce8dacdff38 MPU6050.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Wed Feb 23 06:16:49 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/cansat-d_2018/code/MPU6050/#51bd76211e3b
diff -r 000000000000 -r 1ce8dacdff38 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 23 06:16:49 2022 +0000
@@ -0,0 +1,67 @@
+//PID制御
+#include "mbed.h"
+#include "MPU6050.h"
+
+const double Kp =0.3;
+const double Ki =0.4;
+const double Kd =0.5;
+
+const double T =0; //目標
+
+MPU6050 mpu(p9,p10);
+Serial pc(USBTX,USBRX);
+PwmOut led(LED1);
+
+int gyro[3];
+
+double GX;
+double Tgx;
+
+int main() {
+ GX = 0;
+ while(1){
+ //角度求める
+ mpu.readGyroData(gyro);
+ int gx = gyro[0]+3656-3505;
+ //printf("%d\r\n",gx);
+
+ double gX = gx*0.02562299;
+ int gX1 = gX;
+ double gX2 = gX1*0.01;
+
+ GX = GX + gX2;
+
+ Tgx = Tgx + abs(gX2);
+
+ if(Tgx > 5){
+ if(GX > 0){
+ GX = GX - 0.3;
+ }else{
+ GX = GX + 0.3;
+ }
+ Tgx=0;
+ }
+ //printf("GX %.2f\r\n",GX);
+
+ wait(0.01);
+ //PID()
+ double c;
+ double f1;
+ f1 = T - GX;
+ c = Kp*f1+Ki*f1*0.01+Kd*gX1;
+ //printf("c %.2f\r\n",c);
+
+ //回転トルク→duty比
+
+ double d1;
+ d1 = abs(c)/77;
+
+ if(d1 > 1){
+ d1 = 1;
+ }
+
+ //duty比からledを動かす。
+
+ led = d1;
+ }
+ }
\ No newline at end of file
diff -r 000000000000 -r 1ce8dacdff38 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 23 06:16:49 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file