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.cpp@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 #include "DUALSHOCKco.hpp"
kazumayamanaka 0:a1238c4cd105 2
guesta 11:264f992664b0 3 void DUALSHOCKco::pass_val(double RSX,double RSY,double R2AN,double L2AN)
guesta 11:264f992664b0 4 {
kazumayamanaka 0:a1238c4cd105 5 rsx = RSX;
kazumayamanaka 0:a1238c4cd105 6 rsy = RSY;
kazumayamanaka 0:a1238c4cd105 7 r2an = R2AN;
kazumayamanaka 0:a1238c4cd105 8 l2an = L2AN;
kazumayamanaka 0:a1238c4cd105 9 }
kazumayamanaka 0:a1238c4cd105 10
guesta 11:264f992664b0 11 bool DUALSHOCKco::cal_input()
guesta 11:264f992664b0 12 {
guesta 11:264f992664b0 13 Xval = (rsx - RS_normal) * 450 / RS_normal;
guesta 11:264f992664b0 14 Yval = ((RS_MAX - rsy) - RS_normal + 1) * 450 / RS_normal;
guesta 11:264f992664b0 15 if(r2an != 0) {
guesta 11:264f992664b0 16 rotate_val = r2an * 400 / RL_MAX;
guesta 11:264f992664b0 17 } else {
guesta 11:264f992664b0 18 rotate_val = -l2an * 400 / RL_MAX;
kazumayamanaka 0:a1238c4cd105 19 }
guesta 11:264f992664b0 20 if(r2an == 0 && l2an == 0){
guesta 11:264f992664b0 21 rotate_val = 0;
guesta 11:264f992664b0 22 }
guesta 11:264f992664b0 23 return false;
kazumayamanaka 0:a1238c4cd105 24 }
kazumayamanaka 0:a1238c4cd105 25
guesta 11:264f992664b0 26 double DUALSHOCKco::obt_X()
guesta 11:264f992664b0 27 {
guesta 11:264f992664b0 28 return Xval;
guesta 11:264f992664b0 29 }
kazumayamanaka 0:a1238c4cd105 30
guesta 11:264f992664b0 31 double DUALSHOCKco::obt_Y()
guesta 11:264f992664b0 32 {
guesta 11:264f992664b0 33 return Yval;
guesta 11:264f992664b0 34 }
guesta 11:264f992664b0 35
guesta 11:264f992664b0 36 double DUALSHOCKco::obt_rotate()
guesta 11:264f992664b0 37 {
guesta 11:264f992664b0 38 return rotate_val;
guesta 11:264f992664b0 39 }