Hiroshi M
倒立振子ロボットで使用してるユニポーラのステッピングモータの駆動テストプログラムです。
main.cpp@0:5253455d51ec, 2012-07-07 (annotated)
- Committer:
- bant62
- Date:
- Sat Jul 07 09:12:06 2012 +0000
- Revision:
- 0:5253455d51ec
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bant62 | 0:5253455d51ec | 1 | #include "mbed.h" |
| bant62 | 0:5253455d51ec | 2 | #include "StepperMotor.h" |
| bant62 | 0:5253455d51ec | 3 | |
| bant62 | 0:5253455d51ec | 4 | BusOut myleds(LED1, LED2, LED3, LED4); |
| bant62 | 0:5253455d51ec | 5 | |
| bant62 | 0:5253455d51ec | 6 | Serial pc(USBTX, USBRX); |
| bant62 | 0:5253455d51ec | 7 | |
| bant62 | 0:5253455d51ec | 8 | DigitalOut ae_fxma108(p29); |
| bant62 | 0:5253455d51ec | 9 | |
| bant62 | 0:5253455d51ec | 10 | DigitalIn pb(p19); |
| bant62 | 0:5253455d51ec | 11 | DigitalIn pw(p20); |
| bant62 | 0:5253455d51ec | 12 | |
| bant62 | 0:5253455d51ec | 13 | const char Welcome_Message[] = |
| bant62 | 0:5253455d51ec | 14 | "\r\nHello mbed World!\r\n" |
| bant62 | 0:5253455d51ec | 15 | "Expand your creativity and enjoy making.\r\n\r\n" |
| bant62 | 0:5253455d51ec | 16 | "Stepper Motor Test Mode.\r\n\r\n"; |
| bant62 | 0:5253455d51ec | 17 | |
| bant62 | 0:5253455d51ec | 18 | |
| bant62 | 0:5253455d51ec | 19 | StepperMotor r_motor(p28,p27,p26,p25); |
| bant62 | 0:5253455d51ec | 20 | StepperMotor l_motor(p24,p23,p22,p21); |
| bant62 | 0:5253455d51ec | 21 | |
| bant62 | 0:5253455d51ec | 22 | int main() { |
| bant62 | 0:5253455d51ec | 23 | pc.printf(Welcome_Message); |
| bant62 | 0:5253455d51ec | 24 | |
| bant62 | 0:5253455d51ec | 25 | int old_pb=0; |
| bant62 | 0:5253455d51ec | 26 | int new_pb; |
| bant62 | 0:5253455d51ec | 27 | int old_pw=0; |
| bant62 | 0:5253455d51ec | 28 | int new_pw; |
| bant62 | 0:5253455d51ec | 29 | static int speed = 0; |
| bant62 | 0:5253455d51ec | 30 | |
| bant62 | 0:5253455d51ec | 31 | pb.mode(PullUp); |
| bant62 | 0:5253455d51ec | 32 | pw.mode(PullUp); |
| bant62 | 0:5253455d51ec | 33 | |
| bant62 | 0:5253455d51ec | 34 | ae_fxma108 = 0; |
| bant62 | 0:5253455d51ec | 35 | |
| bant62 | 0:5253455d51ec | 36 | r_motor.SetSpeed(speed,CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 37 | l_motor.SetSpeed(speed,ANTI_CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 38 | |
| bant62 | 0:5253455d51ec | 39 | r_motor.PulseEnable(); |
| bant62 | 0:5253455d51ec | 40 | l_motor.PulseEnable(); |
| bant62 | 0:5253455d51ec | 41 | |
| bant62 | 0:5253455d51ec | 42 | while(1) { |
| bant62 | 0:5253455d51ec | 43 | new_pb = pb; |
| bant62 | 0:5253455d51ec | 44 | if ((new_pb==0) && (old_pb==1)) { |
| bant62 | 0:5253455d51ec | 45 | if (speed == 0) continue; |
| bant62 | 0:5253455d51ec | 46 | speed--; |
| bant62 | 0:5253455d51ec | 47 | pc.printf("speed: %d\r\n",speed); |
| bant62 | 0:5253455d51ec | 48 | r_motor.SetSpeed(speed,CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 49 | l_motor.SetSpeed(speed,ANTI_CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 50 | } |
| bant62 | 0:5253455d51ec | 51 | old_pb = new_pb; |
| bant62 | 0:5253455d51ec | 52 | |
| bant62 | 0:5253455d51ec | 53 | |
| bant62 | 0:5253455d51ec | 54 | new_pw = pw; |
| bant62 | 0:5253455d51ec | 55 | if ((new_pw==0) && (old_pw==1)) { |
| bant62 | 0:5253455d51ec | 56 | if (speed == 10) continue; |
| bant62 | 0:5253455d51ec | 57 | speed++; |
| bant62 | 0:5253455d51ec | 58 | |
| bant62 | 0:5253455d51ec | 59 | pc.printf("speed: %d\r\n",speed); |
| bant62 | 0:5253455d51ec | 60 | r_motor.SetSpeed(speed,CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 61 | l_motor.SetSpeed(speed,ANTI_CLOCK_WISE); |
| bant62 | 0:5253455d51ec | 62 | } |
| bant62 | 0:5253455d51ec | 63 | old_pw = new_pw; |
| bant62 | 0:5253455d51ec | 64 | |
| bant62 | 0:5253455d51ec | 65 | myleds = speed; |
| bant62 | 0:5253455d51ec | 66 | } |
| bant62 | 0:5253455d51ec | 67 | } |