NagaokaRoboticsClub_mbedTeam
2019Bsyudo
Dependencies: PID R1370 mechanism ikarashiMDC_2byte_ver states omni_wheel PS3
Revision 0:bb4567ffe2ee, committed 2019-10-04
- Comitter:
- THtakahiro702286
- Date:
- Fri Oct 04 08:18:49 2019 +0000
- Commit message:
- 2019Bsyudo
Changed in this revision
diff -r 000000000000 -r bb4567ffe2ee .gitignore --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
diff -r 000000000000 -r bb4567ffe2ee libs/PID.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/PID.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/PID/#6e12a3e5af19
diff -r 000000000000 -r bb4567ffe2ee libs/PS3.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/PS3.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/PS3/#78827486d24f
diff -r 000000000000 -r bb4567ffe2ee libs/R1370.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/R1370.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tknara/code/R1370/#96f91d9e3bff
diff -r 000000000000 -r bb4567ffe2ee libs/ikarashiMDC_2byte_ver.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/ikarashiMDC_2byte_ver.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC_2byte_ver/#97bb662f1e1f
diff -r 000000000000 -r bb4567ffe2ee libs/mechanism.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/mechanism.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/THtakahiro702286/code/mechanism/#ff9bb9f8fabe
diff -r 000000000000 -r bb4567ffe2ee libs/ommi_wheel.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/ommi_wheel.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/omni_wheel/#cfec945ea421
diff -r 000000000000 -r bb4567ffe2ee libs/pin_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/pin_config.h Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,63 @@ +#ifndef PIN_CONFIG_H +#define PIN_CONFIG_H + +#include "mbed.h" + +#define PI 3.1415926535 + +/*MDC*/ +#define MDTX PC_6 +#define MDRX PC_7 +#define MDBAUD 115200 +#define MDcontrol D15 + +/*コントローラ*/ +#define padTX PC_12 +#define padRX PD_2 + +/*R1370*/ +#define GYROTX PB_6 +#define GYRORX PA_10 + +/*非常停止*/ +#define STOP PA_7 + +/*PID*/ +const float KP = 10; //速さ +const float KI = 5.0; //揺れすぎたら大きく、動かな過ぎたら小さく +const float KD = 0.0000005; //ずらしたときに戻る力 がでかすぎたら小さく、小さすぎたら大きく +const float minLimit = -1; //逆回転速度の最大値 +const float maxLimit = 1; //回転速度の最大値 + +/*QEI 装填*/ +#define encoder1 PC_8 +#define encoder2 PC_5 + +const int PPR = 100; +const int spinLimit = 500; + +/*昇降*/ +const float riseSpeed = 0.5; +const float follSpeed = -0.5; + +/*機構回転速度*/ +const float collectSpeed = 0.3; +const float hookSpeed = 0.2; +const float loadSpeed = -0.2; +const float liftSpeed = -0.3; + +/*PC出力*/ +#define PCTX USBTX +#define PCRX USBRX +#define BTTX PC_10 +#define BTRX PC_11 +const int PCBAUD = 115200; +const float WAITTIME = 0.05; + +/*Arduino出力*/ +#define LEDTX PA_0 +#define LEDRX PA_1 +const int LEDBAUD = 9600; +const int HEADER = 0xee; + +#endif
diff -r 000000000000 -r bb4567ffe2ee libs/states.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/libs/states.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/THtakahiro702286/code/states/#8ff6db217a17
diff -r 000000000000 -r bb4567ffe2ee main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 04 08:18:49 2019 +0000
@@ -0,0 +1,4 @@
+#include "mbed.h"
+#include "states.h"
+States state;
+int main(){state.move();}
\ No newline at end of file
diff -r 000000000000 -r bb4567ffe2ee mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Fri Oct 04 08:18:49 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#20975127893e0a24e278dbdca6b271e723002910