諒太 宮澤
/
motor_test
単輪試験機用モータドライバテスト
main.cpp@0:f577792e4c6c, 2016-01-12 (annotated)
- Committer:
- manimani3712
- Date:
- Tue Jan 12 07:48:50 2016 +0000
- Revision:
- 0:f577792e4c6c
??????????_test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
manimani3712 | 0:f577792e4c6c | 1 | //motor_test |
manimani3712 | 0:f577792e4c6c | 2 | |
manimani3712 | 0:f577792e4c6c | 3 | #include "mbed.h" |
manimani3712 | 0:f577792e4c6c | 4 | |
manimani3712 | 0:f577792e4c6c | 5 | DigitalOut rled(LED_RED); |
manimani3712 | 0:f577792e4c6c | 6 | DigitalOut gled(LED_GREEN); |
manimani3712 | 0:f577792e4c6c | 7 | DigitalOut bled(LED_BLUE); |
manimani3712 | 0:f577792e4c6c | 8 | Serial pc(USBTX, USBRX); |
manimani3712 | 0:f577792e4c6c | 9 | PwmOut motor(PTC9); |
manimani3712 | 0:f577792e4c6c | 10 | |
manimani3712 | 0:f577792e4c6c | 11 | int s; |
manimani3712 | 0:f577792e4c6c | 12 | BusOut motor1(PTA13,PTD5); |
manimani3712 | 0:f577792e4c6c | 13 | |
manimani3712 | 0:f577792e4c6c | 14 | void drivecommand () { |
manimani3712 | 0:f577792e4c6c | 15 | s = pc.getc(); |
manimani3712 | 0:f577792e4c6c | 16 | pc.printf("%c",s); |
manimani3712 | 0:f577792e4c6c | 17 | if(s=='1'){ |
manimani3712 | 0:f577792e4c6c | 18 | motor1 = 3; |
manimani3712 | 0:f577792e4c6c | 19 | float pwidth; |
manimani3712 | 0:f577792e4c6c | 20 | motor.period_ms(10); |
manimani3712 | 0:f577792e4c6c | 21 | motor.pulsewidth(pwidth); |
manimani3712 | 0:f577792e4c6c | 22 | pc.printf("slow\n"); |
manimani3712 | 0:f577792e4c6c | 23 | |
manimani3712 | 0:f577792e4c6c | 24 | motor1 = 1; |
manimani3712 | 0:f577792e4c6c | 25 | |
manimani3712 | 0:f577792e4c6c | 26 | } |
manimani3712 | 0:f577792e4c6c | 27 | else if(s=='2'){ |
manimani3712 | 0:f577792e4c6c | 28 | motor1 = 3; |
manimani3712 | 0:f577792e4c6c | 29 | float pwidth; |
manimani3712 | 0:f577792e4c6c | 30 | motor.period_ms(20); |
manimani3712 | 0:f577792e4c6c | 31 | motor.pulsewidth(pwidth); |
manimani3712 | 0:f577792e4c6c | 32 | pc.printf("normal\n"); |
manimani3712 | 0:f577792e4c6c | 33 | motor1 = 2; |
manimani3712 | 0:f577792e4c6c | 34 | |
manimani3712 | 0:f577792e4c6c | 35 | } |
manimani3712 | 0:f577792e4c6c | 36 | else if(s=='3'){ |
manimani3712 | 0:f577792e4c6c | 37 | motor1 = 3; |
manimani3712 | 0:f577792e4c6c | 38 | float pwidth; |
manimani3712 | 0:f577792e4c6c | 39 | motor.period_ms(30); |
manimani3712 | 0:f577792e4c6c | 40 | motor.pulsewidth(pwidth); |
manimani3712 | 0:f577792e4c6c | 41 | pc.printf("fast\n"); |
manimani3712 | 0:f577792e4c6c | 42 | motor1 = 1; |
manimani3712 | 0:f577792e4c6c | 43 | |
manimani3712 | 0:f577792e4c6c | 44 | } |
manimani3712 | 0:f577792e4c6c | 45 | else if(s=='5'){ |
manimani3712 | 0:f577792e4c6c | 46 | pc.printf("stop\n"); |
manimani3712 | 0:f577792e4c6c | 47 | motor1 = 3; |
manimani3712 | 0:f577792e4c6c | 48 | } |
manimani3712 | 0:f577792e4c6c | 49 | } |
manimani3712 | 0:f577792e4c6c | 50 | int main() { |
manimani3712 | 0:f577792e4c6c | 51 | pc.attach(drivecommand, Serial::RxIrq); |
manimani3712 | 0:f577792e4c6c | 52 | pc.printf("HELLO WORLD\n"); |
manimani3712 | 0:f577792e4c6c | 53 | while(1) { |
manimani3712 | 0:f577792e4c6c | 54 | |
manimani3712 | 0:f577792e4c6c | 55 | } |
manimani3712 | 0:f577792e4c6c | 56 | } |