計測輪ボード用プログラム
Dependencies: SerialMultiByte measuring_wheel SoftPWM Eigen
Diff: main.cpp
- Revision:
- 1:d8c40d97ce2c
- Parent:
- 0:23e4f10ffbcb
- Child:
- 2:fd71ffefefe5
--- a/main.cpp Wed Jul 04 09:33:58 2018 +0000 +++ b/main.cpp Tue Jul 31 08:33:23 2018 +0000 @@ -2,14 +2,20 @@ #include "measuring_wheel.h" Serial pc(USBTX, USBRX,115200); -MeasuringWheel measuring(PA_9, PC_7, PB_10, PA_8, PC_1, PC_0); -int main() { - - while(true){ - measuring.wheelDiameter(48,48,48); -// measuring.transmissionXY(); -// measuring.resetpisithon(); - pc.printf("x = %f, y = %f\r\n",measuring.getOutX(),measuring.getOutY()); +MeasuringWheel measuring(PA_11,PA_12, PA_8,PB_4, PA_6 ,PA_7); + +int main() +{ + measuring.wheelDiameter(48,48,48); + while(true) { + + + +// pc.printf("fsjflsz\r\n"); +// pc.printf("X = %f, Y = %f\r\n",measuring.getOutX(),measuring.getOutY()); + pc.printf("wi = %f, w2 = %f, w3 = %f\r\n",measuring.getWheel1(),measuring.getWheel2(),measuring.getWheel3()); + pc.printf("yaw = %f\r\n",measuring.getjyroAngle()); +// wait(0.1); } - + }