Pulse Width Modulation（パルス幅変調）制御   
モータードライバ： TA8428K | # | Name | Arg | Func |
|---|
| 1 | IN1 | i1 | 制御用入力端子 |
|---|
| 2 | IN2 | i2 |
|---|
| 3 | OUTA | o1 | 〜1.5A |
|---|
| 4 | GND | gnd | GND |
|---|
| 5 | OUTA~ | o2 | |
|---|
| 6 | ---- | -- | |
|---|
| 7 | Vcc | vcc | VCC〜30V |
|---|
| Mode | IN1 | IN2 | OUTA | OUTA~ |
|---|
| 制動 | H | H | L | L |
|---|
| 正転 | H | L | H | L |
|---|
| 逆転 | L | H | L | H |
|---|
| 停止 | L | L | Z | Z |
|---|
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| | ;pin ctrl.gnd = driver.gnd = 0V
;pin ctrl.vcc = 5V
;pin driver.vcc = 12V
;C[10 uF](driver.gnd, driver.vcc)
;C[ 0.1uF](driver.gnd, driver.vcc)
;Arduino ctrl
;TA8428K driver
;driver.i1 = ctrl.D3
;driver.i2 = ctrl.D11
;pin driver.o1;
;pin driver.o2;
|
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| | void setup() {
Serial.begin(9600);
pinMode( 3, OUTPUT);
pinMode(11, OUTPUT);
}
int c1 = 3;
int c2 = 11;
int t = 100;
int d = 50;
int command = 0;
void loop() {
if (Serial.available() > 0) {
command = Serial.read();
}
digitalWrite(c1, LOW )
digitalWrite(c2, HIGH)
delay(d);
digitalWrite(c1, LOW)
digitalWrite(c2, LOW)
delay(t-d);
}
|
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| #spanend
#spanadd
int iAna0 = 0;
#spanend
#spanadd
int pPwm1 = 3;
#spanend
#spanadd
int pPwm2 = 11;
#spanend
#spanadd
#spanend
#spanadd
int base = 0;
#spanend
#spanadd
#spanend
#spanadd
#define avelg 2
#spanend
#spanadd
#define avesz (1<<avelg)
#spanend
#spanadd
int avebf[avesz];
#spanend
#spanadd
int avelc=0;
#spanend
#spanadd
int ave=0;
#spanend
#spanadd
#spanend
#spanadd
int Ave(int value) {
#spanend
ave -= avebf[avelc]; avebf[avelc] = value >> avelg;
ave += avebf[avelc];
#spanadd
#spanend
avelc++;
if (avelc == avesz) avelc = 0;
#spanadd
#spanend
return ave;
#spanadd
}
#spanend
#spanadd
#spanend
#spanadd
void setPwvWidth0311(int r) {
#spanend
TCCR2B &= B11111000;
switch(r) {
case 1: TCCR2B |= B00000001; break;
case 8: TCCR2B |= B00000010; break;
case 32: TCCR2B |= B00000011; break;
default :
case 64: TCCR2B |= B00000100; break;
case 128: TCCR2B |= B00000101; break;
case 256: TCCR2B |= B00000110; break;
case 1024: TCCR2B |= B00000111; break;
}
#spanadd
}
#spanend
#spanadd
#spanend
#spanadd
void setup() {
#spanend
Serial.begin(9600);
setPwvWidth0311(1024);
#spanadd
#spanend
pinMode(pPwm1, OUTPUT);
pinMode(pPwm2, OUTPUT);
pinMode( 8, OUTPUT);
pinMode( 9, INPUT);
pinMode(10, OUTPUT);
analogWrite(pPwm1, 0 );
analogWrite(pPwm2, 0 );
digitalWrite( 8, LOW);
digitalWrite(10, HIGH);
#spanadd
#spanend
base = analogRead(iAna0)+10;
Serial.print("base == ");
Serial.println(base);
for(int i = 0; i<avesz; i++) {
avebf[i] = 0;
}
#spanadd
}
#spanend
#spanadd
void loop() {
#spanend
int sw = digitalRead(9);
int value = analogRead(iAna0);
int ave = Ave(value);
int acc = 0;
if (sw == LOW) {
acc = (1024-ave)/4;
}
else {
acc = (ave - base)/2;
if (acc < 5) acc = 0;
if (acc >254) acc = 254;
}
if (1) {
Serial.print(value);
Serial.print("\t");
Serial.print(ave);
Serial.print("\t");
Serial.println(acc);
}
analogWrite(pPwm1, 0 );
analogWrite(pPwm2, acc);
delay(100);
#spanadd
}
#spanend
#spanadd
|
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| #spanend
#spanadd
int iAna0 = 1;
#spanend
#spanadd
int iAna1 = 2;
#spanend
#spanadd
int pPwm1 = 5;
#spanend
#spanadd
int pPwm2 = 6;
#spanend
#spanadd
int pLed1 = 3;
#spanend
#spanadd
int pLed2 = 9;
#spanend
#spanadd
#spanend
#spanadd
int base0 = 0;
#spanend
#spanadd
int base1 = 0;
#spanend
#spanadd
#spanend
#spanadd
#define avelg 2
#spanend
#spanadd
#define avesz (1<<avelg)
#spanend
#spanadd
int avebf[2][avesz];
#spanend
#spanadd
int avelc[2] = {0,0};
#spanend
#spanadd
int ave[2] = {0,0};
#spanend
#spanadd
#spanend
#spanadd
int Ave(int id, int value) {
#spanend
if (id > 2) return 0;
ave[id] -= avebf[id][avelc[id]]; avebf[id][avelc[id]] = value >> avelg;
ave[id] += avebf[id][avelc[id]];
#spanadd
#spanend
avelc[id]++;
if (avelc[id] == avesz) avelc[id] = 0;
#spanadd
#spanend
return ave[id];
#spanadd
}
#spanend
#spanadd
#spanend
#spanadd
const int vBaseOffset = 10;
#spanend
#spanadd
void setup() {
#spanend
Serial.begin(9600);
#spanadd
#spanend
pinMode(pPwm1, OUTPUT);
pinMode(pPwm2, OUTPUT);
pinMode(pLed1, OUTPUT);
pinMode(pLed2, OUTPUT);
#spanadd
#spanend
analogWrite(pPwm1, 0);
analogWrite(pPwm2, 0);
#spanadd
#spanend
base0 = analogRead(iAna0) + vBaseOffset;
base1 = analogRead(iAna1) + vBaseOffset;
Serial.print("base == ");
Serial.print(base0);
Serial.print(", ");
Serial.println(base1);
#spanadd
#spanend
for (int i = 0; i < avesz; i++) {
avebf[0][i] = 0;
avebf[1][i] = 0;
}
#spanadd
}
#spanend
#spanadd
#spanend
#spanadd
int gSwtchingLock = false;
#spanend
#spanadd
int gDir = 0;
#spanend
#spanadd
void loop() {
#spanend
int value0 = analogRead(iAna0);
int value1 = analogRead(iAna1);
int ave0 = Ave(0, value0);
int ave1 = Ave(1, value1);
#spanadd
#spanend
int acc = (int)((ave0 - base0) * 0.7);
if (acc < 5) acc = 0;
if (acc > 254) acc = 254;
#spanadd
#spanend
bool sw = (ave1 - base1) > base1;
if (gSwtchingLock == false && sw == true && acc == 0) {
gDir = 1 - gDir;
gSwtchingLock = true;
}
if (gSwtchingLock == true)
{
Serial.print((gDir == 0) ? "200\t100\t" : "100\t200\t");
Serial.println(gDir);
if (sw == false) gSwtchingLock = false;
return;
}
#spanadd
#spanend
if (gSwtchingLock) {
analogWrite(pPwm1, 0);
analogWrite(pPwm2, 0);
delay(10);
return;
}
#spanadd
#spanend
if (true) {
Serial.print(ave0);
Serial.print("\t");
Serial.print(ave1);
Serial.print("\t");
Serial.println(acc);
}
#spanadd
#spanend
if (gDir == 1) {
analogWrite(pPwm1, 0 );
analogWrite(pPwm2, acc);
analogWrite(pLed1, 0 );
analogWrite(pLed2, acc);
}
else {
analogWrite(pPwm1, acc);
analogWrite(pPwm2, 0);
analogWrite(pLed1, acc);
analogWrite(pLed2, 0);
}
delay(100);
#spanadd
}
#spanend
#spanadd
|
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| #spanend
#spanadd
int iAna0 = 0;
#spanend
#spanadd
int pPwm1 = 3;
#spanend
#spanadd
int pPwm2 = 11;
#spanend
#spanadd
#spanend
#spanadd
int pPower = 7;
#spanend
#spanadd
int pDir = 9;
#spanend
#spanadd
int pPowerDir1 = 5;
#spanend
#spanadd
int pPowerDir2 = 10;
#spanend
#spanadd
#spanend
#spanadd
#spanend
#spanadd
const int PUSHED = LOW;
#spanend
#spanadd
#spanend
#spanadd
int base = 0;
#spanend
#spanadd
#define avelg 2
#spanend
#spanadd
#define avesz (1<<avelg)
#spanend
#spanadd
int avebf[avesz];
#spanend
#spanadd
int avelc=0;
#spanend
#spanadd
int ave=0;
#spanend
#spanadd
#spanend
#spanadd
class cStatelessToggleButton
#spanend
#spanadd
{
#spanend
public:
int vPort;
bool vState;
const int PUSHED = LOW;
void (*vStateChanged)();
private:
int vPushed;
public:
cStatelessToggleButton(int aPort, void (*aStateChanged)() = NULL)
: vPort(aPort)
, vStateChanged(aStateChanged)
{
fInit();
}
#spanadd
#spanend
void fInit() {
vState = false;
vPushed = false;
pinMode(vPort, INPUT_PULLUP);
}
int fUpdate() {
if (digitalRead(vPort) == PUSHED) {
if (vPushed == false) {
vState = !vState;
vPushed = true;
if (vStateChanged != NULL) vStateChanged();
}
} else {
vPushed = false;
if (vStateChanged != NULL) vStateChanged();
}
}
#spanadd
};
#spanend
#spanadd
void fCtrlStateChanged();
#spanend
#spanadd
cStatelessToggleButton vPowerButton(pPower, fCtrlStateChanged);
#spanend
#spanadd
cStatelessToggleButton vDirButton (pDir , fCtrlStateChanged);
#spanend
#spanadd
void fCtrlStateChanged() {
#spanend
analogWrite(pPowerDir1, (vPowerButton.vState && vDirButton.vState) ? 50 : 0);
analogWrite(pPowerDir2, (vPowerButton.vState && !vDirButton.vState) ? 128 : 0);
#spanadd
}
#spanend
#spanadd
bool neutral = false;
#spanend
#spanadd
cStatelessToggleButton vNeutralButton (pDir , [](){neutral = !neutral;});
#spanend
#spanadd
#spanend
#spanadd
#spanend
#spanadd
int Ave(int value) {
#spanend
ave -= avebf[avelc]; avebf[avelc] = value >> avelg;
ave += avebf[avelc];
avelc++;
if (avelc == avesz) avelc = 0;
return ave;
#spanadd
}
#spanend
#spanadd
void setPwvWidth0311(int r) {
#spanend
TCCR2B &= B11111000;
switch(r) {
case 0: TCCR2B |= B00000000; break;
case 1: TCCR2B |= B00000001; break;
case 8: TCCR2B |= B00000010; break;
case 32: TCCR2B |= B00000011; break;
default :
case 64: TCCR2B |= B00000100; break;
case 128: TCCR2B |= B00000101; break;
case 256: TCCR2B |= B00000110; break;
case 1024: TCCR2B |= B00000111; break;
}
#spanadd
}
#spanend
#spanadd
void setPwvWidth0506(int r) {
#spanend
TCCR0B &= B11111000;
switch(r) {
case 0: TCCR0B |= B00000000; break;
case 1: TCCR0B |= B00000001; break;
case 8: TCCR0B |= B00000010; break;
case 64: TCCR0B |= B00000011; break;
default :
case 256: TCCR0B |= B00000100; break;
case 1024: TCCR0B |= B00000101; break;
}
#spanadd
}
#spanend
#spanadd
void setup() {
#spanend
Serial.begin(9600);
setPwvWidth0311(256);
//setPwvWidth0506(1);
pinMode(pPwm1, OUTPUT);
pinMode(pPwm2, OUTPUT);
pinMode(pPowerDir1, OUTPUT);
pinMode(pPowerDir2, OUTPUT);
analogWrite(pPwm1, 0);
analogWrite(pPwm2, 0);
analogWrite(pPowerDir1, 50);
analogWrite(pPowerDir2, 128);
#spanadd
#spanend
base = analogRead(iAna0)+10;
Serial.print("\nbase == ");
Serial.println(base);
for(int i = 0; i<avesz; i++) {
avebf[i] = 0;
}
#spanadd
}
#spanend
#spanadd
#define HKS9200
#spanend
#spanadd
//#define DD51
#spanend
#spanadd
//#define DD51K
#spanend
#spanadd
//#define DE15
#spanend
#spanadd
//#define DF200
#spanend
#spanadd
//#define KIHA20
#spanend
#spanadd
//#define KIHA40
#spanend
#spanadd
//#define KIHA75
#spanend
#spanadd
//#define KIHA100 //KATO
#spanend
#spanadd
//#define KIHA120
#spanend
#spanadd
//#define KIHA181x5
#spanend
#spanadd
//#define KIHA183
#spanend
#spanadd
//#define KIHA187x4
#spanend
#spanadd
//#define KIHA187x6
#spanend
#spanadd
//#define KTR8000
#spanend
#spanadd
//#define Renfe592
#spanend
#spanadd
//#define Sanriku36
#spanend
#spanadd
#spanend
#spanadd
#ifdef HKS9200
#spanend
int vIdleMax = 10; int vIdleAcc = 20; int vAccDiv = 5; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef DD51
#spanend
int vIdleMax = 30; int vIdleAcc = 40; int vAccDiv = 4; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef DD51K
#spanend
int vIdleMax = 5; int vIdleAcc = 35; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef DE15
#spanend
int vIdleMax = 5; int vIdleAcc = 20; int vAccDiv = 4; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef DF200
#spanend
int vIdleMax = 5; int vIdleAcc = 30; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA20
#spanend
int vIdleMax = 10; int vIdleAcc = 20; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA40
#spanend
int vIdleMax = 10; int vIdleAcc = 12; int vAccDiv = 9; int vIdleDelay = 14;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA75
#spanend
int vIdleMax = 8; int vIdleAcc = 30; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA100
#spanend
int vIdleMax = 5; int vIdleAcc = 15; int vAccDiv = 4; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA120
#spanend
int vIdleMax = 10; int vIdleAcc = 20; int vAccDiv = 5; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA181
#spanend
int vIdleMax = 30; int vIdleAcc = 10; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA183
#spanend
int vIdleMax = 5; int vIdleAcc = 20; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA181x5
#spanend
int vIdleMax = 10; int vIdleAcc = 35; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA187x4
#spanend
int vIdleMax = 8; int vIdleAcc = 30; int vAccDiv = 4; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KIHA187x6
#spanend
int vIdleMax = 8; int vIdleAcc = 30; int vAccDiv = 2; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef KTR8000
#spanend
int vIdleMax = 8; int vIdleAcc = 12; int vAccDiv = 6; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef Renfe592
#spanend
int vIdleMax = 5; int vIdleAcc = 20; int vAccDiv = 3; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#ifdef Sanriku36
#spanend
int vIdleMax = 5; int vIdleAcc = 20; int vAccDiv = 5; int vIdleDelay = 64;
#spanadd
#endif
#spanend
#spanadd
#spanend
#spanadd
class DCar {
#spanend
bool idlingState;
#spanadd
#spanend
DCar() {
idlingState = true;
}
#spanadd
#spanend
void update() {
}
#spanadd
};
#spanend
#spanadd
#spanend
#spanadd
bool idlingState = true;
#spanend
#spanadd
bool enginePower = true;
#spanend
#spanadd
void loop() {
#spanend
int value = analogRead(iAna0);
int ave = Ave(value);
int acc = 0;
#spanadd
#spanend
vPowerButton.fUpdate();
vDirButton .fUpdate();
#spanadd
#spanend
acc = (ave - base) / vAccDiv;
if (acc > 254) acc = 254;
#spanadd
#spanend
if (1) {
Serial.print(value);
Serial.print("\t");
Serial.print(acc);
Serial.print("\t");
Serial.println(vPowerButton.vState);
}
#spanadd
#spanend
if (vPowerButton.vState) {
if (!enginePower) {
enginePower = true;
setPwvWidth0311(1024);
}
}
else {
if (enginePower) {
enginePower = false;
setPwvWidth0311(256);
}
}
if (enginePower) {
if (acc < vIdleMax) { //反転振動
if (idlingState) {
analogWrite(pPwm1, vIdleAcc);
analogWrite(pPwm2, 0 );
} else {
analogWrite(pPwm2, vIdleAcc);
analogWrite(pPwm1, 0 );
}
idlingState = !idlingState;
}
else {
if (vDirButton.vState) {
analogWrite(pPwm1, 0 );
analogWrite(pPwm2, acc);
} else {
analogWrite(pPwm2, 0 );
analogWrite(pPwm1, acc);
}
}
}
else
{
if (acc < vIdleMax) {
analogWrite(pPwm1, 0);
analogWrite(pPwm2, 0);
}
else {
if (vDirButton.vState) {
analogWrite(pPwm1, 0 );
analogWrite(pPwm2, acc * 6/5);
} else {
analogWrite(pPwm2, 0 );
analogWrite(pPwm1, acc * 6/5);
}
}
}
delay(vIdleDelay);
#spanadd
}
#spanend
#spanadd
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