2022_gorobo_Ateam / gourobo2022_undercarriage_new

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@13:369f4abc1f36, 2022-04-08 (annotated)

Committer:
guesta
Date:
Fri Apr 08 09:14:20 2022 +0000
Revision:
13:369f4abc1f36
Parent:
11:264f992664b0 
2022/04/08

Who changed what in which revision?

UserRevisionLine numberNew 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