2022_Ateam_MOTORprogramをscrp_slaveでメインマイコンからコントローラー状況を読み取れるように改良。 また、モータに0以外のpwmが送られている場合に基盤付属のledが点灯するようにした。
Dependencies: SBDBT arrc_mbed BNO055
DUALSHOCKco.hpp@11:264f992664b0, 2022-03-22 (annotated)
- Committer:
- guesta
- Date:
- Tue Mar 22 00:35:37 2022 +0000
- Revision:
- 11:264f992664b0
- Parent:
- 0:a1238c4cd105
new
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazumayamanaka | 0:a1238c4cd105 | 1 | #ifndef DUALSHOCK_CO_H |
kazumayamanaka | 0:a1238c4cd105 | 2 | #define DUALSHOCK_CO_H |
kazumayamanaka | 0:a1238c4cd105 | 3 | #include "mbed.h" |
kazumayamanaka | 0:a1238c4cd105 | 4 | #define RS_normal 64 |
kazumayamanaka | 0:a1238c4cd105 | 5 | #define RS_MAX 127 |
kazumayamanaka | 0:a1238c4cd105 | 6 | #define RL_MAX 255 |
kazumayamanaka | 0:a1238c4cd105 | 7 | |
kazumayamanaka | 0:a1238c4cd105 | 8 | class DUALSHOCKco{ |
kazumayamanaka | 0:a1238c4cd105 | 9 | |
kazumayamanaka | 0:a1238c4cd105 | 10 | public: |
kazumayamanaka | 0:a1238c4cd105 | 11 | void pass_val(double RSX,double RSY,double R2AN,double L2AN); |
kazumayamanaka | 0:a1238c4cd105 | 12 | bool cal_input(); |
kazumayamanaka | 0:a1238c4cd105 | 13 | double obt_X(); |
kazumayamanaka | 0:a1238c4cd105 | 14 | double obt_Y(); |
guesta | 11:264f992664b0 | 15 | double obt_rotate(); |
kazumayamanaka | 0:a1238c4cd105 | 16 | |
kazumayamanaka | 0:a1238c4cd105 | 17 | private: |
kazumayamanaka | 0:a1238c4cd105 | 18 | double rsx,rsy,r2an,l2an; |
guesta | 11:264f992664b0 | 19 | double Xval,Yval,rotate_val; |
kazumayamanaka | 0:a1238c4cd105 | 20 | |
kazumayamanaka | 0:a1238c4cd105 | 21 | }; |
kazumayamanaka | 0:a1238c4cd105 | 22 | |
kazumayamanaka | 0:a1238c4cd105 | 23 | #endif |