新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

Files at this revision

API Documentation at this revision

Revision 11:f8fac9693cd5, committed 2016-04-04

Comitter:
username16248
Date:
Mon Apr 04 08:55:04 2016 +0000
Parent:
10:369a9389bb7e
Child:
12:2450012ce888
Commit message:
?????.h???????

Changed in this revision

encoder.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
speed_control.cpp Show annotated file Show diff for this revision Revisions of this file
speed_control.h Show annotated file Show diff for this revision Revisions of this file 
--- a/encoder.h	Mon Apr 04 08:43:50 2016 +0000
+++ b/encoder.h	Mon Apr 04 08:55:04 2016 +0000
@@ -7,7 +7,9 @@
 extern int pa,pb,pC,pd,pe,pf;
 extern int s;
 
+void encoder_setting();
 
 #endif
 
 
+

--- a/main.cpp	Mon Apr 04 08:43:50 2016 +0000
+++ b/main.cpp	Mon Apr 04 08:55:04 2016 +0000
@@ -4,9 +4,6 @@
 #include "transfer.h"
 #include <string.h>
 
-void motor_setting();
-void encoder_setting();
-
 int main(){
     spiInit();
     push.mode(PullUp);
@@ -37,3 +34,4 @@
         
     }
     
+

--- a/speed_control.cpp	Mon Apr 04 08:43:50 2016 +0000
+++ b/speed_control.cpp	Mon Apr 04 08:55:04 2016 +0000
@@ -11,7 +11,7 @@
 PwmOut wheell1(WHl1);//左部
 PwmOut wheell2(WHl2);
 Ticker rot_cal;
-float angle_f=0.0,angle_r=0.0,angle_l=0.0;
+/*float angle_f=0.0,angle_r=0.0,angle_l=0.0;
 float angle_old_f=0.0,angle_old_r=0.0,angle_old_l=0.0;
 float duty_out_f=0.0,duty_out_r=0.0,duty_out_l=0.0;
 float duty_PID_f=0.0,duty_PID_r=0.0,duty_PID_l=0.0;
@@ -27,7 +27,7 @@
 const float Kp_r=30.0000f,Kd_r=200.0000f,Ki_r=0.0001f;
 const float Kp_l=30.0000f,Kd_l=200.0000f,Ki_l=0.0001f;
 const float resolution=1024.0;
-int t=0;
+int t=0;*/
 /*
 void motor_move()
 {

--- a/speed_control.h	Mon Apr 04 08:43:50 2016 +0000
+++ b/speed_control.h	Mon Apr 04 08:55:04 2016 +0000
@@ -2,6 +2,25 @@
 #ifndef SPEED_CONTROL_H
 #define SPEED_CONTROL_H
 
+
+float angle_f=0.0,angle_r=0.0,angle_l=0.0;
+float angle_old_f=0.0,angle_old_r=0.0,angle_old_l=0.0;
+float duty_out_f=0.0,duty_out_r=0.0,duty_out_l=0.0;
+float duty_PID_f=0.0,duty_PID_r=0.0,duty_PID_l=0.0;
+float omega_now_f=0.0,omega_now_r=0.0,omega_now_l=0.0;
+float rot_now_f=0.0,rot_now_r=0.0,rot_now_l=0.0;
+float rot_old_f=0.0,rot_old_r=0.0,rot_old_l=0.0;
+float rot_PID_f=0.0,rot_PID_r=0.0,rot_PID_l=0.0;
+float rot_prop_f=0.0,rot_prop_r=0.0,rot_prop_l=0.0;
+float rot_diff_f=0.0,rot_diff_r=0.0,rot_diff_l=0.0;
+float rot_inte_f=0.0,rot_inte_r=0.0,rot_inte_l=0.0;
+int dir_f,dir_r,dir_l;
+const float Kp_f=30.0000f,Kd_f=200.0000f,Ki_f=0.0001f;
+const float Kp_r=30.0000f,Kd_r=200.0000f,Ki_r=0.0001f;
+const float Kp_l=30.0000f,Kd_l=200.0000f,Ki_l=0.0001f;
+const float resolution=1024.0;
+int t=0;
+/*
 extern float angle_f,angle_r,angle_l;
 extern float angle_old_f,angle_old_r,angle_old_l;
 extern float duty_out_f,duty_out_r,duty_out_l;
@@ -24,5 +43,7 @@
 extern const float resolution;
 
 extern int t;
+*/
+void motor_setting();
 
 #endif
\ No newline at end of file