manabu kosaka / Mbed 2 deprecated DCmotor2

DC motor control program using TA7291P type H bridge driver and rotary encoder with A, B phase.

Dependencies:   QEI mbed-rtos mbed

Fork of DCmotor by manabu kosaka

Diff: controller.cpp

Revision:
14:02411880ffb9
Parent:
13:ba71733c11d7
--- a/controller.cpp	Fri Mar 01 02:10:59 2013 +0000
+++ b/controller.cpp	Tue Mar 12 04:32:22 2013 +0000
@@ -135,6 +135,7 @@
     float  e, ed;
 
     e = vl.w_ref - vl.w_lpf;        // 速度偏差の計算
+debug[1]=vl.w_ref/2/PI;//[Hz], for debug
 
     vl.eI = vl.eI + TS1*e;          // 速度偏差の積分値の計算
 
@@ -243,7 +244,7 @@
 
 void data2mbedUSB(){    // PC上のmbed USB ディスクにセーブするためのデータをTS3[s]ごとに代入    save data to mbed USB drive 
     if( _countTS3<1000 ){   // データ数が1,000の5種類のデータをメモリーに貯める
-        data[_countTS3][0]=p.th[0]/*vl.w_ref*/; data[_countTS3][1]=debug[0];
+        data[_countTS3][0]=debug[0]; data[_countTS3][1]=debug[1];
         data[_countTS3][2]=vl.w_lpf; data[_countTS3][3]=_countTS0*TS0; data[_countTS3][4]=il.v_ref;
         _countTS3++;
     }