Diff: main.cpp

Revision:

1:642ee25ea489

Parent:

0:d8faed605a5c

Child:

3:e4b5563563af

--- a/main.cpp	Wed Dec 22 08:52:15 2021 +0000
+++ b/main.cpp	Sat Jan 08 12:47:01 2022 +0000
@@ -2,5 +2,37 @@
 #include "core.hpp"
 
 int main(){
-    Robot main_robot();
+    Robot main_robot(46,25.4,322.5,259.75);
+    ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800);
+    Core rbt(&main_robot,&scrp,OMNI4,0.02);
+    
+//---------------初期設定---------------
+    //モータ
+    rbt.addMOT(PB_14,PB_13,2048,0);//モータ0
+    rbt.addMOT(PB_7,PB_6,2048,1);  //モータ1
+    rbt.addMOT(PB_9,PB_8,2048,2);  //モータ2
+    rbt.addMOT(PA_11,PB_1,2048,3); //モータ3
+    //エンコーダ
+    RBT.addENC(PC_4,PA_13,512,4,1);
+    RBT.addENC(PA_14,PA_15,512,4,2);
+    RBT.addENC(PC_2,PC_3,512,4,3);
+    RBT.addENC(PC_10,PC_11,512,4,4);
+    RBT.addENC(PA_7,PA_6,512,4,5);
+    RBT.addENC(PA_9,PA_8,512,4,6);
+    RBT.addENC(PC_1,PC_0,512,4,7);
+    RBT.addENC(PC_5,PA_12,512,4,8);
+    //変数
+    bool auto = true;
+//------------------------------
+
+    rbt.START();
+    RBT.setPosition(0.0,0.0,0.0);
+    
+//---------------ループ---------------
+    while(true){
+        rbt.getStatus();
+        
+        rbt.LOOP();
+    }
+    
 }
\ No newline at end of file