NagaokaRoboticsClub_mbedTeam / Mbed OS measuringWheel_v3

計測輪ボード用プログラム

Dependencies:   SerialMultiByte measuring_wheel SoftPWM Eigen

main.cpp@5:9332620c08c6, 2018-12-18 (annotated)

Committer:
UCHITAKE
Date:
Tue Dec 18 19:00:19 2018 +0900
Revision:
5:9332620c08c6
Parent:
2:fd71ffefefe5
Child:
6:f4a6cc918833
add softPWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanabe2000 0:23e4f10ffbcb 1 #include "mbed.h"
tanabe2000 0:23e4f10ffbcb 2 #include "measuring_wheel.h"
tanabe2000 0:23e4f10ffbcb 3
UCHITAKE 5:9332620c08c6 4 Serial pc(USBTX, USBRX, 115200);
UCHITAKE 5:9332620c08c6 5 MeasuringWheel measuring(PA_9, PA_8, PA_0, PA_1, PB_7, PB_6);
UCHITAKE 5:9332620c08c6 6 // MeasuringWheel measuring(PB_6,PB_7,PA_8,PA_9,PA_6,PA_7);
tanabe2000 1:d8c40d97ce2c 7
UCHITAKE 5:9332620c08c6 8 int main() {
UCHITAKE 5:9332620c08c6 9 measuring.wheelDiameter(48, 48, 48);
UCHITAKE 5:9332620c08c6 10 while (true) {
UCHITAKE 5:9332620c08c6 11 // pc.printf("%d,%d,\n",(int)measuring.getOutX(),(int)measuring.getOutY());
UCHITAKE 5:9332620c08c6 12 // pc.printf("w1 = %f, w2 = %f, w3 =
UCHITAKE 5:9332620c08c6 13 // %f\r\n",measuring.getWheel1(),measuring.getWheel2(),measuring.getWheel3());
UCHITAKE 5:9332620c08c6 14 // pc.printf("yaw = %f\r\n",measuring.getjyroAngle());
UCHITAKE 5:9332620c08c6 15 /// Thread::wait(100);
UCHITAKE 5:9332620c08c6 16 // measuring.debugLed[1]->write(!measuring.debugLed[1]->read());
UCHITAKE 5:9332620c08c6 17 if (abs((int)measuring.getjyroAngle()) % 6 > 3) {
UCHITAKE 5:9332620c08c6 18 measuring.debugLed[1]->write(true);
UCHITAKE 5:9332620c08c6 19 } else {
UCHITAKE 5:9332620c08c6 20 measuring.debugLed[1]->write(false);
tanabe2000 0:23e4f10ffbcb 21 }
UCHITAKE 5:9332620c08c6 22 if (abs((int)measuring.getOutX()) % 6 > 3) {
UCHITAKE 5:9332620c08c6 23 measuring.debugLed[2]->write(true);
UCHITAKE 5:9332620c08c6 24 } else {
UCHITAKE 5:9332620c08c6 25 measuring.debugLed[2]->write(false);
UCHITAKE 5:9332620c08c6 26 }
UCHITAKE 5:9332620c08c6 27 // kwait(fabs(measuring.getjyroAngle()) / 1.0);
UCHITAKE 5:9332620c08c6 28 wait(0.1);
UCHITAKE 5:9332620c08c6 29 }
tanabe2000 0:23e4f10ffbcb 30 }