ヒロキ モリ
モータ同定用プログラム
Dependencies: mbed QEI motordriver SDFileSystem Encoder
Revision 0:2a0d9ec15bb4, committed 2019-03-18
- Comitter:
- porizou3
- Date:
- Mon Mar 18 04:48:40 2019 +0000
- Commit message:
- firstcommit;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Mon Mar 18 04:48:40 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/porizou3/code/Encoder/#6d62a5947f59
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Mar 18 04:48:40 2019 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.lib Mon Mar 18 04:48:40 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/SDFileSystem/#8db0d3b02cec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Mar 18 04:48:40 2019 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "Encoder.h"
+#include "SDFileSystem.h"
+#include "motordriver.h"
+
+#define SAMPLETIME 0.001
+
+SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+Encoder Enc(p21, p22, 12, 0.0001, 0.001);
+Motor motor(p25 , p23 , p24 , 10000);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+Ticker timer;
+FILE* fp;
+
+double Velocity[1000] = { 0 };
+double Time[1000] = { 0 };
+
+double t = 0.0;
+
+int n = 0;
+
+void SDwrite() {
+ double velocity = -Enc.getVelocity();
+
+ Velocity[n] = velocity;
+ Time[n] = t;
+
+ n += 1;
+ t += SAMPLETIME;
+}
+
+int main() {
+
+ pc.baud(115200);
+
+ led2 = 1;
+ fp = fopen("/sd/motor.csv", "w");
+ if(fp == NULL) {
+ pc.printf("Could not open file for write\n");
+ }
+
+ timer.attach(&SDwrite, SAMPLETIME);
+
+ motor.rotate(1.0);
+
+ while(1) {
+ led1 = !led1;
+ pc.printf("Velocity: %5.2f [rad/s]\n\r", -Enc.getVelocity());
+ wait(0.0001);
+ if(t > 0.9) break;
+ }
+ timer.detach();
+
+ motor.rotate(0.0);
+ led2 = 0;
+ led1 = 0;
+
+ for( int i = 0; i < n; i++) {
+ fprintf(fp,"%f,%f\n",Time[i],Velocity[i]);
+ }
+
+
+ fclose(fp);
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Mar 18 04:48:40 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.lib Mon Mar 18 04:48:40 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/porizou3/code/motordriver/#876ba416c547