メインプログラム最新版です
Dependencies: mbed SBDBT arrc_mbed
main.cpp
- Committer:
- guesta
- Date:
- 2022-01-08
- Revision:
- 1:642ee25ea489
- Parent:
- 0:d8faed605a5c
- Child:
- 3:e4b5563563af
File content as of revision 1:642ee25ea489:
#include "mbed.h" #include "core.hpp" int main(){ 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(); } }