Dependencies: mbed
main.cpp@0:9a36dbb02bc8, 2014-06-28 (annotated)
- Committer:
- Hatter
- Date:
- Sat Jun 28 06:58:19 2014 +0000
- Revision:
- 0:9a36dbb02bc8
- Child:
- 1:bf0a0d529479
Fujisawa???????????4????????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hatter | 0:9a36dbb02bc8 | 1 | /* |
Hatter | 0:9a36dbb02bc8 | 2 | * 4WD_OMNI by Tomoki Hokida |
Hatter | 0:9a36dbb02bc8 | 3 | * Every direction Type |
Hatter | 0:9a36dbb02bc8 | 4 | * |
Hatter | 0:9a36dbb02bc8 | 5 | */ |
Hatter | 0:9a36dbb02bc8 | 6 | |
Hatter | 0:9a36dbb02bc8 | 7 | #include "mbed.h" |
Hatter | 0:9a36dbb02bc8 | 8 | #include <math.h> |
Hatter | 0:9a36dbb02bc8 | 9 | |
Hatter | 0:9a36dbb02bc8 | 10 | #define PI 3.141592 |
Hatter | 0:9a36dbb02bc8 | 11 | |
Hatter | 0:9a36dbb02bc8 | 12 | Serial pc(USBTX,USBRX); |
Hatter | 0:9a36dbb02bc8 | 13 | DigitalOut check(LED1); |
Hatter | 0:9a36dbb02bc8 | 14 | PwmOut wh[4] = {p21,p22,p23,p24}; |
Hatter | 0:9a36dbb02bc8 | 15 | |
Hatter | 0:9a36dbb02bc8 | 16 | void moveOmni(int ox,int oy) |
Hatter | 0:9a36dbb02bc8 | 17 | { |
Hatter | 0:9a36dbb02bc8 | 18 | double trans[4] = {0}; |
Hatter | 0:9a36dbb02bc8 | 19 | |
Hatter | 0:9a36dbb02bc8 | 20 | trans[0] = ox*(cos(0.75*PI)) + oy*(sin(0.75*PI)); |
Hatter | 0:9a36dbb02bc8 | 21 | trans[1] = ox*(cos(-0.75*PI)) + oy*(sin(-0.75*PI)); |
Hatter | 0:9a36dbb02bc8 | 22 | trans[2] = ox*(cos(-0.25*PI)) + oy*(sin(-0.25*PI)); |
Hatter | 0:9a36dbb02bc8 | 23 | trans[3] = ox*(cos(0.25*PI)) + oy*(sin(0.25*PI)); |
Hatter | 0:9a36dbb02bc8 | 24 | |
Hatter | 0:9a36dbb02bc8 | 25 | for(int i=0;i<4;i++){ |
Hatter | 0:9a36dbb02bc8 | 26 | |
Hatter | 0:9a36dbb02bc8 | 27 | if(trans[i]>100){ |
Hatter | 0:9a36dbb02bc8 | 28 | trans[i]=100; |
Hatter | 0:9a36dbb02bc8 | 29 | }else if(trans[i]<-100){ |
Hatter | 0:9a36dbb02bc8 | 30 | trans[i]=-100; |
Hatter | 0:9a36dbb02bc8 | 31 | } |
Hatter | 0:9a36dbb02bc8 | 32 | |
Hatter | 0:9a36dbb02bc8 | 33 | wh[i] = (trans[i]/100.0); |
Hatter | 0:9a36dbb02bc8 | 34 | } |
Hatter | 0:9a36dbb02bc8 | 35 | |
Hatter | 0:9a36dbb02bc8 | 36 | pc.printf("motor:%f, motor:%f, motor:%f, motor:%f\n",trans[0],trans[1],trans[2],trans[3]); |
Hatter | 0:9a36dbb02bc8 | 37 | } |
Hatter | 0:9a36dbb02bc8 | 38 | |
Hatter | 0:9a36dbb02bc8 | 39 | int main() |
Hatter | 0:9a36dbb02bc8 | 40 | { |
Hatter | 0:9a36dbb02bc8 | 41 | int ix,iy; |
Hatter | 0:9a36dbb02bc8 | 42 | |
Hatter | 0:9a36dbb02bc8 | 43 | for(;;){ |
Hatter | 0:9a36dbb02bc8 | 44 | ix=0; |
Hatter | 0:9a36dbb02bc8 | 45 | iy=0; |
Hatter | 0:9a36dbb02bc8 | 46 | |
Hatter | 0:9a36dbb02bc8 | 47 | //ex value |
Hatter | 0:9a36dbb02bc8 | 48 | switch(pc.getc()){ |
Hatter | 0:9a36dbb02bc8 | 49 | case '1': ix = iy = -100; break; |
Hatter | 0:9a36dbb02bc8 | 50 | case '2': ix = iy = 0; break; |
Hatter | 0:9a36dbb02bc8 | 51 | case '3': ix = iy = 100; break; |
Hatter | 0:9a36dbb02bc8 | 52 | } |
Hatter | 0:9a36dbb02bc8 | 53 | moveOmni(ix,iy); |
Hatter | 0:9a36dbb02bc8 | 54 | |
Hatter | 0:9a36dbb02bc8 | 55 | check = !check; |
Hatter | 0:9a36dbb02bc8 | 56 | } |
Hatter | 0:9a36dbb02bc8 | 57 | |
Hatter | 0:9a36dbb02bc8 | 58 | } |