亮汰 今井
アームのスライド移動 まだ片方のアームしか実装されてないけど コピーすれば終わる。
Dependencies: mbed EC_speedcontroller_syuuseiban
Revision 0:d4deb703d536, committed 2019-01-16
- Comitter:
- ryota1999
- Date:
- Wed Jan 16 11:17:34 2019 +0000
- Commit message:
- aa
Changed in this revision
diff -r 000000000000 -r d4deb703d536 EC_speedcontroller_syuuseiban.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EC_speedcontroller_syuuseiban.lib Wed Jan 16 11:17:34 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/ROBOSTEP_SHARE/code/EC_speedcontroller_syuuseiban/#c1f27b79f070
diff -r 000000000000 -r d4deb703d536 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jan 16 11:17:34 2019 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "EC.h"
+#include "math.h"
+
+PwmOut motor1F(PC_9);
+PwmOut motor1B(PC_8);
+PwmOut motor2F(PC_7);
+PwmOut motor2B(PC_6);
+Ec ec1(PA_12, PA_11, NC, 500, 0.05);
+Ec ec2(PC_4, PB_14, NC, 500, 0.05);
+Ticker ticker;
+int tag1 = -100;
+int tag2 = 100;
+int gap1;
+int gap2;
+int a=0;
+int i=1;
+
+void calomega() {
+ ec1.CalOmega();
+ ec2.CalOmega();
+ a=a+1;
+ if(a>=30&&i==1){
+ tag1=-400;
+ a=0;
+ i=0;
+ }
+ if(a>=30&&i==0){
+ tag1=-100;
+ a=0;
+ i=1;
+ }}
+
+int main() {
+ ticker.attach(&calomega, 0.05);
+ motor1F.period_us(50);
+ motor1B.period_us(50);
+ motor2F.period_us(50);
+ motor2B.period_us(50);
+ while (1) {
+ printf("count=%d\r\n", ec1.getCount());
+ gap1 = tag1 - ec1.getCount();
+ gap2 = tag2 - ec2.getCount();
+ if (gap1 > 0) {
+ if (gap1 > 50) {
+ motor1F = 0;
+ motor1B = 0.3;
+ }
+ if (gap1 < 50) {
+ motor1F = 0;
+ motor1B = gap1 * 0.005;
+ }
+ }
+ if (gap1 < 0) {
+ if (gap1 < -50) {
+ motor1F = 0.3;
+ motor1B = 0;
+ }
+ if (gap1 > -50) {
+ motor1F = -gap1 * 0.005;
+ motor1B = 0;
+ }
+ }
+ }
+}
+
diff -r 000000000000 -r d4deb703d536 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jan 16 11:17:34 2019 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/a330f0fddbec \ No newline at end of file