NagaokaRoboticsClub_mbedTeam / Mbed OS quadOmni_yanagi

use for experiment before the demonstration at open-campus

Dependencies:   FEP ikarashiMDC omni PID R1370

Fork of omni_sample by NagaokaRoboticsClub_mbedTeam

main.cpp@0:6c83a0871cc3, 2017-07-03 (annotated)

Committer:
UCHITAKE
Date:
Mon Jul 03 14:24:30 2017 +0000
Revision:
0:6c83a0871cc3
Child:
1:ba8cdae2652a
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 0:6c83a0871cc3 1 #include "mbed.h"
UCHITAKE 0:6c83a0871cc3 2 #include "omni.h"
UCHITAKE 0:6c83a0871cc3 3 #include "MotorDriverController.h"
UCHITAKE 0:6c83a0871cc3 4 #include "pin_config.h"
UCHITAKE 0:6c83a0871cc3 5
UCHITAKE 0:6c83a0871cc3 6 MDC motor(i2c_sda, i2c_scl);
UCHITAKE 0:6c83a0871cc3 7 Omni omni(4, 45);
UCHITAKE 0:6c83a0871cc3 8
UCHITAKE 0:6c83a0871cc3 9 int main()
UCHITAKE 0:6c83a0871cc3 10 {
UCHITAKE 0:6c83a0871cc3 11 double polarVector[2];
UCHITAKE 0:6c83a0871cc3 12 while(1) {
UCHITAKE 0:6c83a0871cc3 13 for(int i = 0; i < 360; i++) {
UCHITAKE 0:6c83a0871cc3 14 polarVector[0] = i;
UCHITAKE 0:6c83a0871cc3 15 polarVector[1] = 1.0;
UCHITAKE 0:6c83a0871cc3 16 omni.computePolar(polarVector, 0);
UCHITAKE 0:6c83a0871cc3 17 for(int j = 0; j < 4; j++) {
UCHITAKE 0:6c83a0871cc3 18 motor.write(7, j, omni.getOutput(j));
UCHITAKE 0:6c83a0871cc3 19 }
UCHITAKE 0:6c83a0871cc3 20 }
UCHITAKE 0:6c83a0871cc3 21 }
UCHITAKE 0:6c83a0871cc3 22 }