yal kaiyo
ロータリーエンコーダー読み取り＋タイマー（あ、これyaw_plusと同じだったｗ）
Revision 0:f3d65e123fda, committed 2016-06-09
- Comitter:
- yal_kaiyo
- Date:
- Thu Jun 09 01:03:04 2016 +0000
- Commit message:
- ???????????
Changed in this revision
diff -r 000000000000 -r f3d65e123fda TextLCD.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Thu Jun 09 01:03:04 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/TextLCD/#a53b3e2d6f1e
diff -r 000000000000 -r f3d65e123fda main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jun 09 01:03:04 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 rotary1(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 rot_read = rotary1.read();
+
+
+ while(1){
+
+
+ if (t2_pwm > 0.0015){
+
+ double yaw_error = (rotary1.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("rotary1 = %f\r\n", rotary1.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 f3d65e123fda mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jun 09 01:03:04 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9114680c05da