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

Diff: main.cpp

Revision:
0:6c83a0871cc3
Child:
1:ba8cdae2652a
diff -r 000000000000 -r 6c83a0871cc3 main.cpp
--- /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));
+            }
+        }
+    }
+}