yotaro morizumi / IMC_motordrive

wakaran

Dependencies:  

test.cpp@0:17acb05d7f3e, 2022-02-24 (annotated)

Committer:
yootee
Date:
Thu Feb 24 07:22:30 2022 +0000
Revision:
0:17acb05d7f3e
ukuraina

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yootee 0:17acb05d7f3e 1 #include<mbed.h>
yootee 0:17acb05d7f3e 2 #include<IMC_motorDrive.hpp>
yootee 0:17acb05d7f3e 3 #include<F446RE_usefulConstruct.h>
yootee 0:17acb05d7f3e 4 #include<nap.hpp>
yootee 0:17acb05d7f3e 5
yootee 0:17acb05d7f3e 6 const float dt = 0.02;
yootee 0:17acb05d7f3e 7 NAP nap(dt);
yootee 0:17acb05d7f3e 8
yootee 0:17acb05d7f3e 9 Serial pc(USBTX,USBRX);
yootee 0:17acb05d7f3e 10
yootee 0:17acb05d7f3e 11 IMC_motor motor(com[10],256,100*M_PI,com[3],20,10,dt);
yootee 0:17acb05d7f3e 12 int main(){
yootee 0:17acb05d7f3e 13 pc.baud(115200);
yootee 0:17acb05d7f3e 14 nap.restart();
yootee 0:17acb05d7f3e 15 while(1){
yootee 0:17acb05d7f3e 16 motor.IMCdrive(300);
yootee 0:17acb05d7f3e 17 nap.take_a_nap();
yootee 0:17acb05d7f3e 18 pc.printf("%lf[rpm] pwm=%lf pmv=%lf\n",motor.motor_enc.getSpeed(),motor.out_pwm,motor.process_model_val);
yootee 0:17acb05d7f3e 19 }
yootee 0:17acb05d7f3e 20 }