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Dependencies: DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed
Diff: hardwareConfig.h
- Revision:
- 0:6db16ad02a1b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/hardwareConfig.h Sat Aug 04 13:07:23 2018 +0000
@@ -0,0 +1,54 @@
+//オンボードLEDの使用宣言
+DigitalOut LED[] = {DigitalOut(LED1),
+ DigitalOut(LED2),
+ DigitalOut(LED3),
+ DigitalOut(LED4),
+ };
+
+//デバック用シリアル
+Serial pc(USBTX, USBRX);
+Serial XBEE(p28, p27);
+
+//CAN用 (rd, td)
+Mycan can(p30, p29);
+
+//sbus用 (tx, rx)
+SBUS sbus(p13, p14);
+
+//メカナム逆運動学モデルのヤコビアン
+float jacobian[4][3] = {{ 1, -1, -1},
+ { 1, 1, -1},
+ {-1, 1, -1},
+ {-1, -1, -1}
+ };
+
+//(逆運動学モデル, ホイールの計算100%定義)
+DriveController mecanum(jacobian, 0.95);
+
+//(計算周期時間[s], sla, sld)
+IMU imu(0.005, p9, p10);
+
+//(pwmPin, direPin)
+MDD Motor[4] = { MDD(p22, p21),
+ MDD(p24, p23),
+ MDD(p25, p20),
+ MDD(p26, p19)
+ };
+
+Timer timer;
+
+//(A相, B相)
+RotaryEncoder enc[3] = {RotaryEncoder(p5 , p6 , &timer, 100),
+ RotaryEncoder(p18, p17, &timer, 100),
+ RotaryEncoder(p16, p15, &timer, 100),
+ };
+
+//(trig, echo)
+USS uss(p11, p12);
+
+//コントローラー入力のための構造体
+typedef struct controller {
+ float LX, LY, RX, RY;
+ int A,B,C,D,E,F,G,H;
+ int fail_safe;
+} controller;
\ No newline at end of file