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

Diff: library/odometry.hpp

Revision:
6:e089fda81b74
Parent:
4:867c2b5cf81a
Child:
10:ad8fced7d6b6
diff -r 1a850f68a06c -r e089fda81b74 library/odometry.hpp
--- a/library/odometry.hpp	Sun Jan 23 13:31:36 2022 +0000
+++ b/library/odometry.hpp	Mon Jan 24 09:21:43 2022 +0000
@@ -5,14 +5,14 @@
 
 double x_position;
 double y_position;
-double odometer_ensyu;
+double odometer_ensyu = 50;
 double read_interval  = 0.05;
 
 RotaryInc odometer[4]  = {
-    RotaryInc(PC_2 ,PC_3 ,1,256,4),
-    RotaryInc(PA_12,PC_5 ,1,256,4),
-    RotaryInc(PC_0 ,PC_1 ,1,256,4),
-    RotaryInc(PC_4 ,PA_13,1,256,4)
+    RotaryInc(PC_10 ,PC_11 ,1,256,4),//前
+    RotaryInc(PA_12,PC_5 ,1,256,4),//左
+    RotaryInc(PA_8 ,PA_9 ,1,256,4),//後
+    RotaryInc(PA_6 ,PA_7,1,256,4)//右
 };
 
 void get_position(double pltheta){