春ロボ 2班 2017
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asimawari
主にオムニです。
Fork of asimawari by
atai.h@3:73625a6c9750, 2017-10-26 (annotated)
- Committer:
- yuto17320508
- Date:
- Thu Oct 26 13:10:28 2017 +0000
- Revision:
- 3:73625a6c9750
- Parent:
- 1:b15569582801
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Who changed what in which revision?
User | Revision | Line number | New 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 |