NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated NHK2017_octopus

NHK2017 octopus robot

Dependencies:   2017NHKpin_config mbed FEP ikarashiMDC PID jy901 omni HMC6352 omni_wheel

Fork of KANI2017v2 by NagaokaRoboticsClub_mbedTeam

bot/wheel_unit/wheel_unit.cpp@25:d199d621ecca, 2017-09-30 (annotated)

Committer:
number_key
Date:
Sat Sep 30 17:59:10 2017 +0900
Revision:
25:d199d621ecca
Parent:
24:9a4ca5442717
Child:
26:7258d5ad0bff
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
number_key 23:37bb9afe9fdc 1 #include "wheel_unit.h"
number_key 23:37bb9afe9fdc 2
number_key 23:37bb9afe9fdc 3 WheelUnit::WheelUnit(DigitalOut* RS485Controller, Serial* RS485) :
number_key 23:37bb9afe9fdc 4 Omni(4),
number_key 23:37bb9afe9fdc 5 wheels({
number_key 23:37bb9afe9fdc 6 {RS485Controller, 0, 1, SM, RS485},
number_key 23:37bb9afe9fdc 7 {RS485Controller, 0, 2, SM, RS485},
number_key 25:d199d621ecca 8 {RS485Controller, 0, 3, SM, RS485},
number_key 25:d199d621ecca 9 {RS485Controller, 0, 0, SM, RS485}
number_key 23:37bb9afe9fdc 10 })
number_key 23:37bb9afe9fdc 11 {
number_key 24:9a4ca5442717 12 Omni::setWheelRadian(PI / 4.0, 3 * PI / 4.0, 5 * PI / 4.0, 7 * PI / 4.0);
number_key 24:9a4ca5442717 13 //Omni::setWheelRadian(PI / 4.0, PI / 4.0, PI / 4.0, PI / 4.0);
number_key 23:37bb9afe9fdc 14 for(int i = 0; i < 4; i++) {
number_key 23:37bb9afe9fdc 15 wheels[i].braking = true;
number_key 23:37bb9afe9fdc 16 }
number_key 23:37bb9afe9fdc 17 }
number_key 23:37bb9afe9fdc 18
number_key 23:37bb9afe9fdc 19 void WheelUnit::moveXY(float X, float Y, float moment)
number_key 23:37bb9afe9fdc 20 {
number_key 23:37bb9afe9fdc 21 Omni::computeXY(X, Y, moment);
number_key 23:37bb9afe9fdc 22 for(int i = 0; i < 4; i++) {
number_key 23:37bb9afe9fdc 23 wheels[i].setSpeed(Omni::getOutput(i));
number_key 23:37bb9afe9fdc 24 }
number_key 23:37bb9afe9fdc 25 }
number_key 23:37bb9afe9fdc 26
number_key 23:37bb9afe9fdc 27 void WheelUnit::moveCircular(float r, float radian, float moment)
number_key 23:37bb9afe9fdc 28 {
number_key 23:37bb9afe9fdc 29 Omni::computeCircular(r, radian, moment);
number_key 23:37bb9afe9fdc 30 for(int i = 0; i < 4; i++) {
number_key 23:37bb9afe9fdc 31 wheels[i].setSpeed(Omni::getOutput(i));
number_key 23:37bb9afe9fdc 32 }
number_key 23:37bb9afe9fdc 33 }