yal kaiyo
YAW_plusのrotaryをpitotに変更。ピトー管も圧力センサからアナログアウトプットしてるのでまあ同じかなと。とりあえずのやつ。変更の余地あり。
Revision 0:c7c4be6a082f, committed 2016-06-09
- Comitter:
- yal_kaiyo
- Date:
- Thu Jun 09 01:19:37 2016 +0000
- Commit message:
- ???
Changed in this revision
diff -r 000000000000 -r c7c4be6a082f TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Thu Jun 09 01:19:37 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#a53b3e2d6f1e
diff -r 000000000000 -r c7c4be6a082f main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jun 09 01:19:37 2016 +0000
@@ -0,0 +1,95 @@
+#include "mbed.h"
+#include "TextLCD.h"
+//#include "I2cLCD.h"
+
+DigitalOut myled1(LED1),myled2(LED2),myled3(LED3),myled4(LED4);
+AnalogIn pitot(p15);
+Serial pc(USBTX,USBRX); //(USBTX,USBRX)
+Timer t1,t2;
+InterruptIn ch1(p16),ch2(p17);
+PwmOut yawyaw(p21),ch5out(p22);
+
+double t1_pwm;
+double t2_pwm;
+
+/////////////timer//////////////
+void t1_start(){
+ t1.start();
+}
+
+void t1_stop (){
+ t1.stop();
+ t1_pwm = t1.read();
+ t1.reset();
+}
+
+void t2_start(){
+ t2.start();
+}
+
+void t2_stop (){
+ t2.stop();
+ t2_pwm = t2.read();
+ t2.reset();
+}
+
+///////////////////////////////////
+
+
+
+
+int main(void){
+
+ pc.baud(115200);
+
+ double yaw_gain_p = 0.001;
+ double yaw_s;
+
+ ch1.rise(&t1_start) ;
+ ch1.fall(&t1_stop) ;
+
+ ch2.rise(&t2_start) ;
+ ch2.fall(&t2_stop) ;
+
+
+ yawyaw.period(0.020);
+
+ double pit_read = pitot.read();
+
+
+ while(1){
+
+
+ if (t2_pwm > 0.0015){
+
+ double yaw_error = (pitot.read() - 0.4785);
+
+ yaw_s = 0.00148 + yaw_gain_p * yaw_error;
+
+ if (yaw_s > 0.00175){yaw_s = 0.00175;}
+ if (yaw_s < 0.0012){yaw_s = 0.0012;}
+
+
+ //if (t2_pwm > 0.0015){
+ yawyaw.pulsewidth(yaw_s); // servo position determined by a pulsewidth between 1-2ms
+
+ }
+
+
+ else{
+ yawyaw.pulsewidth(t1_pwm);}
+
+
+ //lcd.locate(8,1);
+ //rot_read = (rotary1.read())*1000000;
+ pc.printf("pitot = %f\r\n", pitot.read());
+ pc.printf("yaw_s = %f\r\n", yaw_s);
+ pc.printf("t1_pwm = %f\r\n", t1_pwm);
+ pc.printf("t2_pwm = %f\r\n", t2_pwm);
+ //wait(1);
+ ch5out.pulsewidth(t2_pwm);
+ }
+
+}
+
+
diff -r 000000000000 -r c7c4be6a082f mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jun 09 01:19:37 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file