yotaro morizumi / IMC_motordrive

wakaran

Dependencies:  

test.cpp

Committer:
yootee
Date:
2022-02-24
Revision:
0:17acb05d7f3e

File content as of revision 0:17acb05d7f3e:

#include<mbed.h>
#include<IMC_motorDrive.hpp>
#include<F446RE_usefulConstruct.h>
#include<nap.hpp>

const float dt = 0.02;
NAP nap(dt);

Serial pc(USBTX,USBRX);

IMC_motor motor(com[10],256,100*M_PI,com[3],20,10,dt);
int main(){
    pc.baud(115200);
    nap.restart();
    while(1){
        motor.IMCdrive(300);
        nap.take_a_nap();
        pc.printf("%lf[rpm] pwm=%lf pmv=%lf\n",motor.motor_enc.getSpeed(),motor.out_pwm,motor.process_model_val);
    }
}