NagaokaRoboticsClub_mbedTeam / Mbed OS KANIv3

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Dependencies:   2017NHKpin_config FEP omni_wheel PID R1307 ikarashiMDC

bot/wheel_unit/wheel_unit.cpp@41:ae6f844facb1, 2017-10-21 (annotated)

Committer:
takeuchi
Date:
Sat Oct 21 14:54:16 2017 +0900
Revision:
41:ae6f844facb1
Parent:
24:593910fa1397
Child:
53:701d5c4571e3
add noHMC drive func

Who changed what in which revision?

UserRevisionLine numberNew contents of line
uchitake 9:39be1525dfe0 1 #include "wheel_unit.h"
uchitake 9:39be1525dfe0 2
uchitake 9:39be1525dfe0 3 WheelUnit::WheelUnit(DigitalOut* RS485Controller, Serial* RS485) :
uchitake 24:593910fa1397 4 omni(4),
uchitake 9:39be1525dfe0 5 wheels({
UCHITAKE 11:a8385ca0a275 6 ikarashiMDC({RS485Controller, 0, 0, SM, RS485}),
UCHITAKE 11:a8385ca0a275 7 ikarashiMDC({RS485Controller, 0, 1, SM, RS485}),
UCHITAKE 11:a8385ca0a275 8 ikarashiMDC({RS485Controller, 0, 2, SM, RS485}),
UCHITAKE 11:a8385ca0a275 9 ikarashiMDC({RS485Controller, 0, 3, SM, RS485})
uchitake 9:39be1525dfe0 10 })
uchitake 9:39be1525dfe0 11 {
takeuchi 41:ae6f844facb1 12 omni.wheel[0].setRadian(PI / 4.0 * 3.0);
takeuchi 41:ae6f844facb1 13 omni.wheel[1].setRadian(PI / 4.0 * 5.0);
takeuchi 41:ae6f844facb1 14 omni.wheel[2].setRadian(PI / 4.0 * 7.0);
takeuchi 41:ae6f844facb1 15 omni.wheel[3].setRadian(PI / 4.0 * 1.0);
uchitake 9:39be1525dfe0 16 for(int i = 0; i < 4; i++) {
uchitake 9:39be1525dfe0 17 wheels[i].braking = true;
uchitake 9:39be1525dfe0 18 }
uchitake 9:39be1525dfe0 19 }
uchitake 9:39be1525dfe0 20
uchitake 9:39be1525dfe0 21 void WheelUnit::moveXY(float X, float Y, float moment)
uchitake 9:39be1525dfe0 22 {
uchitake 24:593910fa1397 23 omni.computeXY(X, Y, moment);
uchitake 9:39be1525dfe0 24 for(int i = 0; i < 4; i++) {
uchitake 24:593910fa1397 25 wheels[i].setSpeed(omni.wheel[i]);
uchitake 24:593910fa1397 26 }
uchitake 24:593910fa1397 27 }
uchitake 24:593910fa1397 28
uchitake 24:593910fa1397 29 void WheelUnit::moveXY(float X, float Y, float gX, float gY, float moment)
uchitake 24:593910fa1397 30 {
uchitake 24:593910fa1397 31 omni.computeXY(X, Y, gX, gY, moment);
uchitake 24:593910fa1397 32 for(int i = 0; i < 4; i++) {
uchitake 24:593910fa1397 33 wheels[i].setSpeed(omni.wheel[i]);
uchitake 9:39be1525dfe0 34 }
uchitake 9:39be1525dfe0 35 }
uchitake 9:39be1525dfe0 36
uchitake 9:39be1525dfe0 37 void WheelUnit::moveCircular(float r, float radian, float moment)
uchitake 9:39be1525dfe0 38 {
uchitake 24:593910fa1397 39 omni.computeCircular(r, radian, moment);
uchitake 9:39be1525dfe0 40 for(int i = 0; i < 4; i++) {
uchitake 24:593910fa1397 41 wheels[i].setSpeed(omni.wheel[i]);
uchitake 9:39be1525dfe0 42 }
uchitake 9:39be1525dfe0 43 }
uchitake 24:593910fa1397 44
uchitake 24:593910fa1397 45 void WheelUnit::moveCircular(float r, float radian, float gX, float gY, float moment)
uchitake 24:593910fa1397 46 {
uchitake 24:593910fa1397 47 omni.computeCircular(r, radian, gX, gY, moment);
uchitake 24:593910fa1397 48 for(int i = 0; i < 4; i++) {
uchitake 24:593910fa1397 49 wheels[i].setSpeed(omni.wheel[i]);
uchitake 24:593910fa1397 50 }
uchitake 24:593910fa1397 51 }