Revision 0:8e42db611280, committed 2020-11-16

Comitter:

oguro

Date:

Mon Nov 16 01:12:50 2020 +0000

Commit message:

Trapezoid Drive with Hall Sensor

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 16 01:12:50 2020 +0000
@@ -0,0 +1,142 @@
+#include "mbed.h"
+
+
+unsigned int q=0,r=0,s=0,START=8;
+
+PwmOut mypwmA(PA_8); //PWM_OUT 
+PwmOut mypwmB(PA_9); //PWM_OUT 
+PwmOut mypwmC(PA_10);//PWM_OUT 
+
+
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+
+InterruptIn  HA(PA_15);
+InterruptIn  HB(PB_3);
+InterruptIn  HC(PB_10);
+
+unsigned int UP,VP,WP;
+AnalogIn V_adc(PC_2);  // gaibu Volume
+//AnalogIn V_adc(PB_1);   //Volume
+
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+
+float Vr_adc=0.0f;
+
+Timer uT;
+float ut1=0,ut2=0,usi=0;  
+float Speed=0;
+   
+ void HAH(){
+   
+    s=r%2;
+    if(s==0){
+    ut1=uT.read_us();
+    r++; 
+    }
+   
+    if(s==1){
+    ut2=uT.read_us();
+    r++;
+    uT.reset(); 
+    }
+    mypwmA.write(Vr_adc); 
+    mypwmB.write(0);
+    mypwmC.write(0);    
+      }
+      
+ void HAL(){
+
+    mypwmA.write(0);
+    mypwmC.write(0);
+   
+     }
+ void HBH(){
+ 
+    mypwmA.write(0);
+    mypwmB.write(Vr_adc);
+    mypwmC.write(0);
+     }
+ void HBL(){
+ 
+   mypwmA.write(0);
+   mypwmB.write(0);
+      }
+ void HCH(){
+    
+    mypwmA.write(0);
+    mypwmB.write(0);
+    mypwmC.write(Vr_adc); 
+     }
+     
+ void HCL(){
+    mypwmB.write(0);
+    mypwmC.write(0);
+     }   
+ 
+int main() {
+   pc.baud(128000); 
+   
+   EN1=1;
+   EN2=1;
+   EN3=1;
+   
+    mypwmA.period_us(20); // PWM 50KHz
+   
+    mypwmB.period_us(20);
+   
+    mypwmC.period_us(20);
+       
+     
+ while(1) {
+   
+      Vr_adc=V_adc.read();
+       uT.start();
+       
+ if((Vr_adc>0.15f)&&(q==0)){     
+  while(q<50){   
+    
+    mypwmA.write(0);
+    mypwmB.write(0.5f);
+    mypwmC.write(0);
+    wait_ms(START);
+           
+    mypwmA.write(0.5f);
+    mypwmB.write(0);
+    mypwmC.write(0);
+    wait_ms(START);
+         
+    mypwmA.write(0);
+    mypwmB.write(0);
+    mypwmC.write(0.5f);
+    wait_ms(START);
+    q++;
+      }
+     } 
+   
+        HA.rise(&HCH);  //HAH
+        HC.fall(&HBL);  //HCL
+        HB.rise(&HAH);  //HBH
+        HA.fall(&HCL);  //HAL
+        HC.rise(&HBH);  //HCH
+        HB.fall(&HAL);  //HBL
+      //  s=0;
+    if(Vr_adc < 0.1f){ 
+       
+       q=0;
+       
+       }    
+       
+       usi=abs(ut2-ut1);
+       Speed=60*(1/(7.0*usi*1E-6));
+       pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+       //UP=HA; VP=HB; WP=HC;
+      // pc.printf("%d  ,%d ,%d\r" ,UP,VP,WP);
+        myled = !myled;
+       
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 16 01:12:50 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file