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

Committer:
ec30109b
Date:
2019-09-03
Revision:
6:f4a6cc918833
Parent:
5:9332620c08c6

File content as of revision 6:f4a6cc918833:

#include "mbed.h"
#include "measuring_wheel.h"
#include "pin_config.h"

Serial pc(USBTX,USBRX, 115200);
//3,1,5
MeasuringWheel measuring(PA_1,PA_0, PA_8, PA_9, PB_6,PB_7);
//1,3,4
//MeasuringWheel measuring(PB_6, PB_7, PA_8, PA_9, PC_6, PC_7);
//MeasuringWheel measuring(encoder1_a, encoder1_b, encoder2_a, encoder2_b, encoder3_a, encoder3_b);

int main() {
    while (true) {
        pc.printf("x = %f,  y = %f, theta = %f\r\n", measuring.getOutX(), measuring.getOutY(), measuring.getjyroAngle());
    }
}