C++ (Cpp) motor_set_duty_cycleの例

コード例 #1

ファイル: console.c プロジェクト: hsteinhaus/px4esc

static void cmd_dc(BaseSequentialStream *chp, int argc, char *argv[])
{
	static const int TTL_MS = 30000;

	if (argc == 0) {
		motor_stop();
		puts("Usage:\n"
			"  dc <duty cycle>\n"
			"  dc arm");
		return;
	}

	// Safety check
	static bool _armed = false;
	if (!strcmp(argv[0], "arm")) {
		_armed = true;
		puts("OK");
		return;
	}
	if (!_armed) {
		puts("Error: Not armed");
		return;
	}

	const float value = atoff(argv[0]);
	lowsyslog("Duty cycle %f\n", value);
	motor_set_duty_cycle(value, TTL_MS);
}

コード例 #2

ファイル: console.cpp プロジェクト: willendzw/sapog

static void cmd_startstop(BaseSequentialStream *chp, int argc, char *argv[])
{
	static const int TTL_MS = 5000;

	if (argc == 0) {
		motor_stop();
		puts("Usage:\n"
			"  startstop <number of cycles> [duty cycle = 0.1]");
		return;
	}

	motor_stop();

	const int num_cycles = (int)atoff(argv[0]);
	const float dc = (argc > 1) ? atoff(argv[1]) : 0.1;

	int current_cycle = 0;

	for (; current_cycle < num_cycles; current_cycle++) {
		printf("Cycle %d of %d, dc %f...\n", current_cycle + 1, num_cycles, dc);

		// Waiting for the motor to spin down
		sleep(3);
		if (!motor_is_idle()) {
			puts("NOT STOPPED");
			break;
		}

		// Starting with the specified duty cycle
		motor_set_duty_cycle(dc, TTL_MS);

		// Checking if started and stopping
		sleep(3);
		if (!motor_is_running()) {
			puts("NOT RUNNING");
			break;
		}

		motor_stop();
	}

	printf("Finished %d cycles of %d\n", current_cycle, num_cycles);
}