2022_gorobo_Ateam / Mbed 2 deprecated MAIN

メインプログラム最新版です

Dependencies:   mbed SBDBT arrc_mbed

main.cpp@1:642ee25ea489, 2022-01-08 (annotated)

Committer:
guesta
Date:
Sat Jan 08 12:47:01 2022 +0000
Revision:
1:642ee25ea489
Parent:
0:d8faed605a5c
Child:
3:e4b5563563af
second_commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
guesta 0:d8faed605a5c 1 #include "mbed.h"
guesta 0:d8faed605a5c 2 #include "core.hpp"
guesta 0:d8faed605a5c 3
guesta 0:d8faed605a5c 4 int main(){
guesta 1:642ee25ea489 5 Robot main_robot(46,25.4,322.5,259.75);
guesta 1:642ee25ea489 6 ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800);
guesta 1:642ee25ea489 7 Core rbt(&main_robot,&scrp,OMNI4,0.02);
guesta 1:642ee25ea489 8
guesta 1:642ee25ea489 9 //---------------初期設定---------------
guesta 1:642ee25ea489 10 //モータ
guesta 1:642ee25ea489 11 rbt.addMOT(PB_14,PB_13,2048,0);//モータ0
guesta 1:642ee25ea489 12 rbt.addMOT(PB_7,PB_6,2048,1); //モータ1
guesta 1:642ee25ea489 13 rbt.addMOT(PB_9,PB_8,2048,2); //モータ2
guesta 1:642ee25ea489 14 rbt.addMOT(PA_11,PB_1,2048,3); //モータ3
guesta 1:642ee25ea489 15 //エンコーダ
guesta 1:642ee25ea489 16 RBT.addENC(PC_4,PA_13,512,4,1);
guesta 1:642ee25ea489 17 RBT.addENC(PA_14,PA_15,512,4,2);
guesta 1:642ee25ea489 18 RBT.addENC(PC_2,PC_3,512,4,3);
guesta 1:642ee25ea489 19 RBT.addENC(PC_10,PC_11,512,4,4);
guesta 1:642ee25ea489 20 RBT.addENC(PA_7,PA_6,512,4,5);
guesta 1:642ee25ea489 21 RBT.addENC(PA_9,PA_8,512,4,6);
guesta 1:642ee25ea489 22 RBT.addENC(PC_1,PC_0,512,4,7);
guesta 1:642ee25ea489 23 RBT.addENC(PC_5,PA_12,512,4,8);
guesta 1:642ee25ea489 24 //変数
guesta 1:642ee25ea489 25 bool auto = true;
guesta 1:642ee25ea489 26 //------------------------------
guesta 1:642ee25ea489 27
guesta 1:642ee25ea489 28 rbt.START();
guesta 1:642ee25ea489 29 RBT.setPosition(0.0,0.0,0.0);
guesta 1:642ee25ea489 30
guesta 1:642ee25ea489 31 //---------------ループ---------------
guesta 1:642ee25ea489 32 while(true){
guesta 1:642ee25ea489 33 rbt.getStatus();
guesta 1:642ee25ea489 34
guesta 1:642ee25ea489 35 rbt.LOOP();
guesta 1:642ee25ea489 36 }
guesta 1:642ee25ea489 37
guesta 0:d8faed605a5c 38 }