春ロボ 2班 2017 / Mbed 2 deprecated asimawari

主にオムニです。

Dependencies:   EC mbed HCSR04

Fork of asimawari by yuto kawamura

atai.h@1:b15569582801, 2017-10-24 (annotated)

Committer:
yuto17320508
Date:
Tue Oct 24 15:57:28 2017 +0000
Revision:
1:b15569582801
Parent:
0:1787ed4e6e61 
a; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuto17320508 0:1787ed4e6e61 1
yuto17320508 0:1787ed4e6e61 2
yuto17320508 0:1787ed4e6e61 3 //前進の方向の定義
yuto17320508 0:1787ed4e6e61 4 double fai=60;//φ
yuto17320508 0:1787ed4e6e61 5 //個体差で出力調整
yuto17320508 0:1787ed4e6e61 6 double power_set=0.4;
yuto17320508 0:1787ed4e6e61 7 double power[3];
yuto17320508 0:1787ed4e6e61 8 double M[3];
yuto17320508 0:1787ed4e6e61 9 double MAX;
yuto17320508 0:1787ed4e6e61 10 double max();
yuto17320508 0:1787ed4e6e61 11 double x;
yuto17320508 0:1787ed4e6e61 12 double y;
yuto17320508 0:1787ed4e6e61 13 double X;
yuto17320508 0:1787ed4e6e61 14 double Y;
yuto17320508 0:1787ed4e6e61 15 int i;
yuto17320508 0:1787ed4e6e61 16 int j;
yuto17320508 0:1787ed4e6e61 17 //ジョイスティック入力値の偏角
yuto17320508 0:1787ed4e6e61 18 double sita;
yuto17320508 0:1787ed4e6e61 19 //関数代入用の角度調整
yuto17320508 0:1787ed4e6e61 20 double sita_2;
yuto17320508 0:1787ed4e6e61 21
yuto17320508 0:1787ed4e6e61 22 //モーターのクラス
yuto17320508 0:1787ed4e6e61 23 PwmOut motor[3][2]= {PwmOut(p21),PwmOut(p22),
yuto17320508 0:1787ed4e6e61 24 PwmOut(p23),PwmOut(p24),
yuto17320508 0:1787ed4e6e61 25 PwmOut(p25),PwmOut(p26)
yuto17320508 0:1787ed4e6e61 26 };
yuto17320508 0:1787ed4e6e61 27
yuto17320508 0:1787ed4e6e61 28 //モーターの初期設定
yuto17320508 0:1787ed4e6e61 29 void setting()
yuto17320508 0:1787ed4e6e61 30 {
yuto17320508 0:1787ed4e6e61 31 for(i=0; i<=2; i++) {
yuto17320508 0:1787ed4e6e61 32 power[i]=power_set;
yuto17320508 0:1787ed4e6e61 33 }
yuto17320508 0:1787ed4e6e61 34 for(i=0; i<=2; i++) {
yuto17320508 0:1787ed4e6e61 35 for(j=0; j<=2; i++) {
yuto17320508 0:1787ed4e6e61 36 motor[i][j].period_us(100);
yuto17320508 0:1787ed4e6e61 37 }
yuto17320508 0:1787ed4e6e61 38 }
yuto17320508 0:1787ed4e6e61 39 }
yuto17320508 0:1787ed4e6e61 40
yuto17320508 0:1787ed4e6e61 41 float attach_timing=0.05f;
yuto17320508 0:1787ed4e6e61 42
yuto17320508 0:1787ed4e6e61 43