suu pen
このプログラムはDcMotorDirectDrive libraryのサンプルプログラムです。 mabuchi motor (RF-300C-11440 ,DC3V,18mA,2200rpm)を３個制御します。 モータは正転、逆転を繰り返します。 This program is a sample program DcMotorDirectDrive library. mabuchi motor (RF-300C-11440, DC3V, 18mA, 2200rpm) contains three controls. Motor forward, Reverse rotation repeat. =video 動画 = {{http://www.youtube.com/watch?v=w-ipv5tC5m4}}
Diff: main.cpp
- Revision:
- 0:36fd4dec9f15
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 05 12:13:07 2011 +0000
@@ -0,0 +1,93 @@
+//============================================
+// DcMotorDirectDrive Library Example
+//
+// This program controls the motor 3.
+// Repeat the forward and reverse motor.
+// Continuously varies the rotational speed of the motor.
+//
+// <schematic>
+//
+// motor1,2,3 : mabuchi motor RF-300C-11440 DC3V 18mA 2200rpm)
+// __
+// p21(pwmOut) ---------| | motor1
+// | |--
+// p22(digitalOut) ---------|__|
+//
+// __
+// p23(pwmOut) ---------| | motor2
+// | |--
+// p24(digitalOut) ---------|__|
+//
+// __
+// p25(pwmOut) ---------| | motor3
+// | |--
+// p26(digitalOut) ---------|__|
+//
+//=============================================
+
+#include "mbed.h"
+
+#include "DcMotorDirectDrive.h"
+
+// pwm pin
+// |
+// | reference pin
+// | |
+DcMotorDirectDrive motor1(p21, p22);
+DcMotorDirectDrive motor2(p23, p24);
+DcMotorDirectDrive motor3(p25, p26);
+
+
+DigitalOut led1(LED1);
+DigitalOut led4(LED4);
+
+Timer timer; // data change timer
+
+int main() {
+ float siji = 1.0f; // motor output (+1.0 -> ... -> +0.5 -> -1.0 -> ... -> -0.5 -> +1.0)
+ uint8_t fugo = 0; // 0 : normal rotation, 1 : reverse rotation
+
+
+ timer.start();
+
+ while(1) {
+ // After 100[ms] to start the process
+ if(timer.read_ms() >= 100){
+ timer.reset();
+
+ if(fugo == 0){
+ // Normal rotation
+ // siji = +1.0 -> +0.5
+ siji -= 0.005;
+ if(siji < 0.5f){
+ fugo = 1;
+ siji = -1.0f;
+ }
+ }
+ else{
+ // Reverse rotation
+ siji += 0.005;
+ if(siji > -0.5f){
+ fugo = 0;
+ siji = +1.0f;
+ }
+ }
+ // Outputs a control instruction to the motor
+ motor1.DcMotorDirectDrive_main(siji);
+ motor2.DcMotorDirectDrive_main(siji);
+ motor3.DcMotorDirectDrive_main(siji);
+
+ // rotation display
+ if(siji > 0.5){
+ // normal rotation
+ led1 = 1;
+ led4 = 0;
+ }
+ else{
+ // reverse rotation
+ led1 = 0;
+ led4 = 1;
+ }
+ }
+ }
+}