{"id":24,"date":"2008-04-18T19:35:54","date_gmt":"2008-04-18T10:35:54","guid":{"rendered":"http:\/\/chihayafuru.la.coocan.jp\/etrobo\/?p=24"},"modified":"2009-05-17T11:53:38","modified_gmt":"2009-05-17T02:53:38","slug":"brickos-%e7%96%91%e4%bc%bcpwm%e5%88%b6%e5%be%a1%e8%a9%b3%e7%b4%b0","status":"publish","type":"post","link":"https:\/\/www.chihayafuru.jp\/etrobo\/?p=24","title":{"rendered":"brickOS \u7591\u4f3cPWM\u5236\u5fa1"},"content":{"rendered":"<p>\u3000brickOS\u306f\u3001\u7591\u4f3cPWM(Pulse Width Modulation)\u5236\u5fa1\u3067\u3001\u30e2\u30fc\u30bf\u30fc\u306e\u51fa\u529b\u3092\u8abf\u6574\u3057\u3066\u3044\u308b\u3089\u3057\u3044\u3001\u3068\u3044\u3046\u3053\u3068\u306f\u5206\u304b\u3063\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001\u5177\u4f53\u7684\u306a\u5236\u5fa1\u65b9\u6cd5\u3084\u5236\u5fa1\u306e\u9045\u308c\u6642\u9593\u304c\u4e0d\u660e\u3067\u3042\u3063\u305f\u305f\u3081\u3001\u81ea\u5206\u3067\u8abf\u67fb\u3057\u305f\u7d50\u679c\u3092\u4e0b\u8a18\u306b\u307e\u3068\u3081\u307e\u3057\u305f\u3002<\/p>\n<p><!--more--><\/p>\n<p>\u3000\u4ee5\u4e0b\u306bRCX\u306e\u51fa\u529b\u30dd\u30fc\u30c8\u306e\u6ce2\u5f62\u3092\u793a\u3057\u307e\u3059\u3002<br \/>\n\u3000\u3061\u306a\u307f\u306b\u51fa\u529b\u30dd\u30fc\u30c8\u306e\u96fb\u5727\u306f600\u03a9\u306e\u62b5\u6297\u3067\u7d42\u7aef\u3057\u3066\u6e2c\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<div align=\"center\">\n<table>\n<tbody>\n<tr>\n<td><img decoding=\"async\" src=\"\/etrobo\/img\/load600_speed64.png\" alt=\"\u51fa\u529b\u30dd\u30fc\u30c8\u6ce2\u5f62\" \/><\/td>\n<\/tr>\n<tr>\n<th align=\"center\">SPEED = 64<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<p><\/p>\n<div align=\"center\">\n<table>\n<tbody>\n<tr>\n<td><img decoding=\"async\" src=\"\/etrobo\/img\/load600_speed128.png\" alt=\"\u51fa\u529b\u30dd\u30fc\u30c8\u6ce2\u5f62\" \/><\/td>\n<\/tr>\n<tr>\n<th align=\"center\">SPEED = 128<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<p><\/p>\n<div align=\"center\">\n<table>\n<tbody>\n<tr>\n<td><img decoding=\"async\" src=\"\/etrobo\/img\/load600_speed192.png\" alt=\"\u51fa\u529b\u30dd\u30fc\u30c8\u6ce2\u5f62\" \/><\/td>\n<\/tr>\n<tr>\n<th align=\"center\">SPEED = 192<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<p><\/p>\n<p>\u3000\u6ce2\u5f62\u304b\u3089\u30b9\u30d4\u30fc\u30c9\u306b\u6bd4\u4f8b\u3057\u3066\u30e2\u30fc\u30bf\u3092\u99c6\u52d5\u3059\u308b\uff08\uff1d\u96fb\u5727\u3092\uff28\uff29\uff27H\u306b\u3059\u308b\uff09\u6642\u9593\u304c\u9577\u304f\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u898b\u3066\u53d6\u308c\u307e\u3059\u3002<\/p>\n<p><\/p>\n<p>\u3000\u3061\u306a\u307f\u306b\u5b9f\u969b\u306e\u30e2\u30fc\u30bf\u30fc\u99c6\u52d5\u3067\u306f 1\u30df\u30ea\u79d2\u5358\u4f4d\u306e\u77ed\u3044\u5468\u671f\u3067\u96fb\u5727\u304c\u6025\u4e0a\u6607\u3068\u6025\u4e0b\u964d\u3092\u7e70\u308a\u8fd4\u3057\u3066\u3044\u308b\u308f\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<p>\u3000\u305d\u306e\u8aac\u660e\u306e\u305f\u3081\u306b\u3001\u6b21\u306bOUT\u30dd\u30fc\u30c8\u306e\u51fa\u529b\u3092\u30aa\u30fc\u30d7\u30f3\u3067\u6e2c\u5b9a\u3057\u305f\u6ce2\u5f62\u3092\u793a\u3057\u307e\u3059\u3002<\/p>\n<div align=\"center\">\n<table>\n<tbody>\n<tr>\n<td><img decoding=\"async\" src=\"\/etrobo\/img\/noload_speed32.png\" alt=\"\u51fa\u529b\u30dd\u30fc\u30c8\u6ce2\u5f62\" \/><\/td>\n<\/tr>\n<tr>\n<th align=\"center\">SPEED = 32<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<p><\/p>\n<div align=\"center\">\n<table>\n<tbody>\n<tr>\n<td><img decoding=\"async\" src=\"\/etrobo\/img\/noload_speed64.png\" alt=\"\u51fa\u529b\u30dd\u30fc\u30c8\u6ce2\u5f62\" \/><\/td>\n<\/tr>\n<tr>\n<th align=\"center\">SPEED = 64<\/th>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<p>\u3000\u3053\u308c\u306f\u51fa\u529b\u30dd\u30fc\u30c8\u5185\u90e8\u306e\u30ad\u30e3\u30d1\u30b7\u30bf\u30fc\uff08\u30b3\u30f3\u30c7\u30f3\u30b5\u30fc\uff09\u306e\u52b9\u679c\u3067\u3001\u51fa\u529b\u96fb\u5727\u304c\u5e73\u6ed1\u5316\u3055\u308c\u305f\u3053\u3068\u306b\u3088\u308b\u3082\u306e\u3067\u3059\u3002<br \/>\n\u3000\u5b9f\u969b\u306b\u30e2\u30fc\u30bf\u30fc\u3092\u63a5\u7d9a\u3057\u305f\u3068\u304d\u3082\u3001\u3053\u306e\u30ad\u30e3\u30d1\u30b7\u30bf\u30fc\u3068\u30e2\u30fc\u30bf\u30fc\u306e\u5185\u90e8\u30a4\u30f3\u30c0\u30af\u30bf\u30f3\u30b9\u306e\u52b9\u679c\u3067\u3001\u30e2\u30fc\u30bf\u30fc\u306b\u304b\u304b\u308b\u96fb\u5727\u306f\uff08\u30df\u30ea\u79d2\u5358\u4f4d\u306e\u6e2c\u5b9a\u6642\u9593\u304b\u3089\u898b\u308c\u3070\uff09\u6ed1\u3089\u304b\u306b\u5909\u5316\u3057\u307e\u3059\u3002<\/p>\n<p><\/p>\n<p>\u3000\u3057\u304b\u3057\u306a\u304c\u3089\u4e00\u822c\u7684\u306a\uff30\uff37\uff2d\u5236\u5fa1\u3067\u306fON-OFF(HIGH-LOW)\u306e\u5468\u671f\u3092\u4e00\u5b9a\u306b\u4fdd\u3061\u306a\u304c\u3089\u3001ON\u3068OFF\u306e\u6642\u9593\u306e\u6bd4\uff08\u30c7\u30e5\u30fc\u30c6\u30a3\u30fc\u6bd4\uff09\u3092\u5909\u5316\u3055\u305b\u308b\u65b9\u6cd5\u304c\u4e00\u822c\u7684\u3067\u3059\u304c\u3001brickOS\u306e\uff08\u7591\u4f3c\uff09PWM\u5236\u5fa1\u3067\u306fON-OFF\u306e\u5468\u671f\u304c\u5b9a\u307e\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n<p><\/p>\n<p>\u3000\u305d\u3053\u3067\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9 (kernel\/dmotor.c) \u3092\u8abf\u3079\u305f\u3068\u3053\u308d\u8aa4\u5dee\u62e1\u6563\u6cd5\u3092\u5fdc\u7528\u3057\u3066\u3001\u7591\u4f3cPWM\u306e\u6ce2\u5f62\u3092\u4f5c\u308a\u51fa\u3057\u3066\u3044\u308b\u3089\u3057\u3044\u3068\u3044\u3046\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3057\u305f\u3002\uff08\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306b delta \u3068\u3044\u3046\u5909\u6570\u540d\u304c\u51fa\u3066\u304f\u308b\u3053\u3068\u304b\u3089\u958b\u767a\u8005\u3082\u8aa4\u5dee\u62e1\u6563\u6cd5\u3092\u77e5\u3063\u3066\u3044\u3066\u610f\u8b58\u3057\u305f\u3082\u306e\u3068\u601d\u3044\u307e\u3059\u3002\uff09<\/p>\n<p>\u3000\u8aa4\u5dee\u62e1\u6563\u6cd5\u306f\u300c\u798f\u5f15\u306e\u88dc\u52a9\u5238\u300d\u306e\u4f8b\u3048\u8a71\u3067\u8aac\u660e\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<blockquote><p>\n\u3000\u3042\u308b\u5546\u5e97\u8857\u3067\uff11\uff10\uff10\uff10\u5186\u306e\u8cb7\u3044\u7269\u3092\u3059\u308b\u3068\uff11\u56de\u62bd\u9078\u6a5f\u3092\u56de\u305b\u308b\u798f\u5f15\u304c\u3042\u3063\u305f\u3068\u3057\u307e\u3059\u3002\u3082\u3057\u798f\u5f15\u306e\u88dc\u52a9\u5238\u304c\u306a\u3051\u308c\u3070\u3001\uff11\uff11\uff10\uff10\u5186\u306e\u8cb7\u3044\u7269\u3092\uff11\uff10\u56de\u3057\u3066\u3082\u7aef\u6570\u306e\uff11\uff10\uff10\u5186\u306f\u6bce\u56de\u5207\u308a\u6368\u3066\u3089\u308c\u3066\uff11\uff10\u56de\u3057\u304b\u62bd\u9078\u6a5f\u3092\u56de\u305b\u307e\u305b\u3093\u3002\u3057\u304b\u3057\uff11\uff10\uff10\u5186\u306e\u88dc\u52a9\u5238\u304c\u3042\u308c\u3070\u3001\uff11\uff11\u56de\u62bd\u9078\u6a5f\u3092\u56de\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u3000\u3061\u306a\u307f\u306b\u300c\uff11\uff10\uff10\uff10\u5186\u672a\u6e80\u306e\u7aef\u6570\u300d\u306e\u3053\u3068\u3092\u60c5\u5831\u5de5\u5b66\u306e\u7528\u8a9e\u3067\u306f\u300c\u91cf\u5b50\u5316\u8aa4\u5dee\u300d\u3068\u547c\u3076\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u305d\u3057\u3066\u3001\u3053\u306e\u91cf\u5b50\u5316\u8aa4\u5dee\u3092\u30ad\u30e3\u30ea\u30fc\u30aa\u30fc\u30d0\u30fc\u3055\u305b\u3066\u62e1\u6563\u3055\u305b\u308b\u3068\u3044\u3046\u306e\u304c\u300c\u8aa4\u5dee\u62e1\u6563\u6cd5\u300d\u306e\u539f\u7406\u3067\u3059\u3002\n<\/p><\/blockquote>\n<blockquote><p>\n\u3000brickOS\u306e\u7591\u4f3cPWM\u3082\u540c\u3058\u539f\u7406\u3067\u3059\u3002\u5177\u4f53\u7684\u306b\u306f\uff11\u30df\u30ea\u79d2\u6bce\u306e\u5272\u8fbc\u307f\u51e6\u7406\u3067speed(delta)\u306e\u5024\u3092sum\u306b\u52a0\u7b97\u3057\u307e\u3059\u3002sum\u306e\u5024\u304c255\u3092\u8d85\u3048\u308b\uff08\u30aa\u30fc\u30d0\u30fc\u30d5\u30ed\u30fc\u3059\u308b\uff09\u6bce\u306b\u51fa\u529b\u30dd\u30fc\u30c8\u3092\uff11\u56de(1\u30df\u30ea\u79d2\u9593)\u3001HIGH\u306b\u5236\u5fa1\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\u3000\u3057\u305f\u304c\u3063\u3066\u3001speed(delta)\u304c 1 \u306e\u3068\u304d\u306f 256\u30df\u30ea\u79d2\u306b1\u56de\u3001speed\u304c 2 \u306e\u3068\u304d\u306f2\u56de\u3001\u30fb\u30fb\u30fb\u30011\u30df\u30ea\u79d2\u306eHIGH\u306e\u30d1\u30eb\u30b9\u304c\u51fa\u529b\u3055\u308c\u307e\u3059\u3002<br \/>\n\u3000\u3061\u306a\u307f\u306b\u3001speed\u304c 255 (MAX_SPEED) \u306e\u3068\u304d\u306f\u3001\u5e38\u306bHIGH\u304c\u51fa\u529b\u3055\u308c\u308b\u3088\u3046\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3067\u7d30\u5de5\u3055\u308c\u3066\u3044\u307e\u3059\u3002\n<\/p><\/blockquote>\n<p>\u3000\u3068\u3001\u3053\u3053\u307e\u3067\u8aac\u660e\u3057\u3066\u826f\u3044\u3053\u3068\u305a\u304f\u3081\u306b\u601d\u3048\u308b\u8aa4\u5dee\u62e1\u6563\u6cd5\u306b\u3088\u308b\u7591\u4f3cPWM\u3067\u3059\u304c\u3001\u4e00\u3064\u554f\u984c\u304c\u3042\u308a\u307e\u3059\u3002\u5236\u5fa1\u306b\u5bfe\u3057\u3066\u51fa\u529b\u304c\u9045\u308c\u308b\u3053\u3068\u3067\u3059\u3002\u91cf\u5b50\u5316\u8aa4\u5dee\u304c\u7a4d\u307f\u91cd\u306a\u3063\u3066\u521d\u3081\u3066\u51fa\u529b\u304c\u5f97\u3089\u308c\u308b\u305f\u3081\u4ed5\u65b9\u304c\u306a\u3044\u3068\u8a00\u3048\u3070\u4ed5\u65b9\u304c\u306a\u3044\u306e\u3067\u3059\u304c\u3001\u51fa\u529b\u306e\u9045\u308c\u6642\u9593\u304c\u4e0d\u5b9a\u3067\u8aad\u3081\u306a\u3044\u3001\u3068\u3044\u3046\u306e\u306f\u56f0\u3063\u305f\u7279\u6027\u306b\u306a\u308a\u307e\u3059\u3002<br \/>\n\u3000\u3068\u3044\u3046\u3053\u3068\u3067\u3069\u3046\u5de5\u592b\u3059\u308c\u3070\u826f\u3044\u304b\u5206\u304b\u3089\u306a\u3044\u306e\u3067\u3059\u304c\u3001\u3068\u308a\u3042\u3048\u305a\u5236\u5fa1\u306e\u5909\u5316\u306e\u958b\u59cb\u4f4d\u7f6e\u3067\u306f\u3001sum \u306b 255 \u3092\u653e\u308a\u8fbc\u3093\u3067\u3001\u3059\u3050\u306b\u6700\u521d\u306e\u30d1\u30eb\u30b9\u304c\u5f97\u3089\u308c\u308b\u3088\u3046\u306b\u4fee\u6b63\u3059\u308c\u3070\u5236\u5fa1\u306e\u9045\u308c\u6642\u9593\u306e\u554f\u984c\u306f\u6539\u5584\u3059\u308b\u306e\u304b\u306a\uff1f\u3068\u8003\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n<h3>2008.06.09 \u8ffd\u8a18<\/h3>\n<p>\u3000\u3042\u308b\u65b9\u304b\u3089\u3001brickOS\u306e\u30e2\u30fc\u30bf\u30fc\u5236\u5fa1\u65b9\u6cd5\u306f\u300e&Delta;&Sigma;\uff08\u30c7\u30eb\u30bf\u30b7\u30b0\u30de\uff09\u5909\u8abf\u300f\u3067\u306f\u306a\u3044\u304b\u3068\u3044\u3046\u3054\u6307\u6458\u3092\u53d7\u3051\u307e\u3057\u305f\u3002<br \/>\n\u3000\u8abf\u3079\u3066\u307f\u305f\u3068\u3053\u308d\u78ba\u304b\u306b\u6307\u6458\u306e\u901a\u308a\u306a\u306e\u3067\u88dc\u8db3\u3057\u307e\u3059\u3002\u304c\u3001\u91cf\u5b50\u5316\u8aa4\u5dee\u30fb\u30fb\u30fb\u306e\u8aac\u660e\u306f\u5f53\u305f\u3089\u305a\u3068\u8a00\u3048\u3069\u3001\u9060\u304b\u3089\u305a\u3060\u3068\u672c\u4eba\u3068\u3057\u3066\u306f\u60a6\u306b\u5165\u3063\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u524d\u306e\u6587\u7ae0\u306f\u305d\u306e\u307e\u307e\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002^_^;<\/p>\n<p><\/p>\n<dt>&Delta;&Sigma;\u5909\u8abf &#8211; Wikipedia<\/dt>\n<dl><a href='http:\/\/ja.wikipedia.org\/wiki\/\u0394\u03a3\u5909\u8abf'>http:\/\/ja.wikipedia.org\/wiki\/\u0394\u03a3\u5909\u8abf<\/a><\/dl>\n<hr\/>\n<div align=\"center\"><font size=\"-2\"><br \/>\n<a rel=\"license\" href=\"http:\/\/creativecommons.org\/licenses\/by\/2.1\/jp\/\"><img decoding=\"async\" alt=\"Creative Commons License\" style=\"border-width:0\" src=\"http:\/\/i.creativecommons.org\/l\/by\/2.1\/jp\/88x31.png\"\/><\/a><br \/>\u3053\u306e<span xmlns:dc=\"http:\/\/purl.org\/dc\/elements\/1.1\/\" href=\"http:\/\/purl.org\/dc\/dcmitype\/Text\" rel=\"dc:type\">\u4f5c\u54c1<\/span>\u306f\u3001<a rel=\"license\" href=\"http:\/\/creativecommons.org\/licenses\/by\/2.1\/jp\/\">\u30af\u30ea\u30a8\u30a4\u30c6\u30a3\u30d6\u30fb\u30b3\u30e2\u30f3\u30ba\u30fb\u30e9\u30a4\u30bb\u30f3\u30b9<\/a>\u306e\u4e0b\u3067\u30e9\u30a4\u30bb\u30f3\u30b9\u3055\u308c\u3066\u3044\u307e\u3059\u3002<br \/>\n<\/font><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u3000brickOS\u306f\u3001\u7591\u4f3cPWM(Pulse Width Modulation)\u5236\u5fa1\u3067\u3001\u30e2\u30fc\u30bf\u30fc\u306e\u51fa\u529b\u3092\u8abf\u6574\u3057\u3066\u3044\u308b\u3089\u3057\u3044\u3001\u3068\u3044\u3046\u3053\u3068\u306f\u5206\u304b\u3063\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001\u5177\u4f53\u7684\u306a\u5236\u5fa1\u65b9\u6cd5\u3084\u5236\u5fa1\u306e\u9045\u308c\u6642\u9593\u304c\u4e0d\u660e\u3067\u3042\u3063\u305f\u305f\u3081\u3001\u81ea\u5206\u3067\u8abf\u67fb\u3057 &hellip; <a href=\"https:\/\/www.chihayafuru.jp\/etrobo\/?p=24\">\u7d9a\u304d\u3092\u8aad\u3080 <span 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