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?
User | Revision | Line number | New 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 | } |