use for experiment before the demonstration at open-campus
Dependencies: FEP ikarashiMDC omni PID R1370
Fork of omni_sample by
Diff: main.cpp
- Revision:
- 0:6c83a0871cc3
- Child:
- 1:ba8cdae2652a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Jul 03 14:24:30 2017 +0000 @@ -0,0 +1,22 @@ +#include "mbed.h" +#include "omni.h" +#include "MotorDriverController.h" +#include "pin_config.h" + +MDC motor(i2c_sda, i2c_scl); +Omni omni(4, 45); + +int main() +{ + double polarVector[2]; + while(1) { + for(int i = 0; i < 360; i++) { + polarVector[0] = i; + polarVector[1] = 1.0; + omni.computePolar(polarVector, 0); + for(int j = 0; j < 4; j++) { + motor.write(7, j, omni.getOutput(j)); + } + } + } +}