Revision 0:3b5242119d17, committed 2020-08-27

Comitter:

oguro

Date:

Thu Aug 27 03:03:43 2020 +0000

Commit message:

OPEN Drive Trapezoid

Changed in this revision

diff -r 000000000000 -r 3b5242119d17 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Aug 27 03:03:43 2020 +0000
@@ -0,0 +1,145 @@
+#include "mbed.h"
+int i=0,t=0,tt=0,q=0,START=4;
+unsigned int adc;
+PwmOut mypwmA(PA_8); //PWM_OUT 8
+PwmOut mypwmB(PA_9); //9
+PwmOut mypwmC(PA_10);//10
+
+PwmOut  Current_Ref(PB_4);
+
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+
+
+AnalogIn V_adc(PC_2);
+AnalogOut CP_re(PA_4);
+
+Serial pc(USBTX,USBRX);
+
+
+float Vr_adc=0.0f;
+float Speed=0;   
+ 
+int main() {
+   pc.baud(128000);  
+   EN1=0;
+   EN2=0;
+   EN3=0;
+   
+    mypwmA.period_us(20);
+   
+    mypwmB.period_us(20);
+   
+    mypwmC.period_us(20);
+     
+    
+ while(1) {
+     
+      Vr_adc=V_adc.read();
+      adc= V_adc.read_u16()/35 ; //>>5
+      
+      
+   while((Vr_adc>0.15f)&&(q<50)){ 
+   
+    EN1=1;
+    EN2=1;
+    EN3=0;
+    mypwmA.write(0.7f);
+    mypwmB=0;
+    mypwmC=0;
+    wait_ms(START);
+    EN1=1;
+    EN2=0;
+    EN3=1;
+    wait_ms(START);
+    EN1=0;
+    EN2=1;
+    EN3=1;
+    mypwmA=0;
+    mypwmB.write(0.7f);
+    mypwmC=0;
+    wait_ms(START);
+    EN1=1;
+    EN2=1;
+    EN3=0;
+    wait_ms(START);
+    EN1=1;
+    EN2=0;
+    EN3=1;
+    mypwmA=0;
+    mypwmB=0;
+    mypwmC.write(0.7f);
+    wait_ms(START);
+    EN1=0;
+    EN2=1;
+    EN3=1;
+    q++;
+    wait_ms(START);
+    }
+    
+      if(Vr_adc < 0.005f){
+          q=0;         
+       }  
+       
+      t=3000-(adc);//3000
+      if(t<=2){
+       t=2;
+       }
+       tt=t;
+       
+     
+if(Vr_adc >0.05f){
+      
+    
+      EN1=1; //1
+      EN2=1; //1
+      EN3=0; //0
+      
+      mypwmA.write(Vr_adc);
+      mypwmB.write(0.0f);
+      mypwmC.write(0.0f);
+   
+       wait_us(t);
+    
+       EN1=1; //1
+       EN2=0; //0
+       EN3=1; //1
+      wait_us(tt);
+ 
+      EN1=0; //0
+      EN2=1; //1
+      EN3=1; //1
+       mypwmA.write(0.0f);
+       mypwmB.write(Vr_adc);
+       mypwmC.write(0.0f);
+    
+      wait_us(t);
+      EN1=1;//1
+      EN2=1;//1
+      EN3=0;//0
+        wait_us(tt);
+    
+       EN1=1; //1
+       EN2=0; //0
+       EN3=1; //1
+       mypwmA.write(0.0f);
+       mypwmB.write(0.0f);
+       mypwmC.write(Vr_adc);
+        wait_us(t);
+       EN1=0; //0
+       EN2=1; //1
+       EN3=1; //1
+    
+       wait_us(tt);
+      }
+     else{ 
+       mypwmA.write(0.0f);
+       mypwmB.write(0.0f);
+       mypwmC.write(0.0f);
+       }
+       Speed=60*(1/(7.0*6*float(t)*1E-6))-476;
+       pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+        
+    }
+}

diff -r 000000000000 -r 3b5242119d17 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Aug 27 03:03:43 2020 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file