C++ (Cpp) MotorSpeedOut Examples

Example #1

File: main.c Project: chenxuuu/15-nuedc-wind-pendulum

void PIT0_IRQHandler(void)
{   if(aa<1000) aa++;
    delayms();
    mpu6050_read();
    angle_calculate();
    angle_calculate1();
    if (flag==2||flag==1)
        set_gyro();
    if (flag==3&&active==1)
    {
        set_gyro1_3();
        set_gyro_3();
    }
//    oledplay();
    if(flag==1)
    {
        motor_control();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();
    }
    if(qd==0)
    {
        motor_control();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();
    }
    if (flag==3&&active==1)
    {
        motor_control_3();
//      SetMotorVoltage(0,0.5);
        MotorSpeedOut_3();

    }
    if (flag==4)
    {
        motor_control_4();
        SetMotorVoltage(0.05,0);
        MotorSpeedOut();

    }
    if(flag==5)
    {
        set_gyro1();

        motor_control1();
        SetMotorVoltage(0,0.05);
        MotorSpeedOut1();
        angle_set1=16;
    }
    PIT_Flag_Clear(PIT0);       //清中断标志位
}

Example #2

File: car.c Project: Chasingwhat/Self-Balancing-Car

/*******************最后的输出**************/
void MotorOutput(void) 
{ 
  float fLeft, fRight;

  fLeft  = g_fAngleControlOut - g_fSpeedControlOut + g_DirectionControlOut; //速度角度
  fRight = g_fAngleControlOut - g_fSpeedControlOut - g_DirectionControlOut; //速度角度之和
  g_fLeftMotorOut = fLeft; 
  g_fRightMotorOut= fRight; 
  MotorSpeedOut();
}