Michael Ernst Peter / PM2_Libary

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Dependencies:   LSM9DS1 RangeFinder FastPWM

Dependents:   PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board PM2_Example_PES_board ... more

Diff: SpeedController.cpp

Revision:
5:6cd242a61e4c
Parent:
4:9c003c402033
Child:
6:41dd03654c44
--- a/SpeedController.cpp	Tue Apr 06 11:21:54 2021 +0000
+++ b/SpeedController.cpp	Tue Apr 06 12:19:29 2021 +0000
@@ -11,7 +11,7 @@
 const float SpeedController::MIN_DUTY_CYCLE = 0.02f;             // minimum duty-cycle
 const float SpeedController::MAX_DUTY_CYCLE = 0.98f;             // maximum duty-cycle
 
-SpeedController::SpeedController(float COUNTS_PER_TURN, float KN, float KP, float MAX_VOLTAGE, PwmOut& pwm, EncoderCounter& encoderCounter) : pwm(pwm), encoderCounter(encoderCounter), thread(osPriorityHigh, 4096)
+SpeedController::SpeedController(float COUNTS_PER_TURN, float KN, float KP, float MAX_VOLTAGE, FastPWM& pwm, EncoderCounter& encoderCounter) : pwm(pwm), encoderCounter(encoderCounter), thread(osPriorityHigh, 4096)
 {
     this->COUNTS_PER_TURN = COUNTS_PER_TURN;
     this->KN = KN;
@@ -19,8 +19,8 @@
     this->MAX_VOLTAGE = MAX_VOLTAGE;
 
     // Initialisieren der PWM Ausgaenge
-    pwm.period(0.00005f); // PWM Periode von 50 us
-    pwm = 0.5f;           // Duty-Cycle von 50%
+    pwm.period(0.00005); // PWM Periode von 50 us
+    pwm.write(0.5);      // Duty-Cycle von 50%
 
     // Initialisieren von lokalen Variabeln
     previousValueCounter = encoderCounter.read();
@@ -81,7 +81,7 @@
         float dutyCycle = 0.5f + 0.5f*voltage/MAX_VOLTAGE;
         if (dutyCycle < MIN_DUTY_CYCLE) dutyCycle = MIN_DUTY_CYCLE;
         else if (dutyCycle > MAX_DUTY_CYCLE) dutyCycle = MAX_DUTY_CYCLE;
-        pwm.write(dutyCycle);
+        pwm.write(static_cast<double>(dutyCycle));
 
     }
 }