RaC2018
version 2.6.5 mode normal en cours(problème de décalage) voir incrément et coefficient codeur
Dependencies: mbed
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Robot_a_cables_v2_6
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RaC2018
Revision 9:0f63d4cb5613, committed 2018-05-18
- Comitter:
- protongamer
- Date:
- Fri May 18 09:03:25 2018 +0000
- Parent:
- 8:1e6d3d9ae1d3
- Commit message:
- v2.6.5
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| parameters.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 1e6d3d9ae1d3 -r 0f63d4cb5613 main.cpp
--- a/main.cpp Tue May 15 10:02:20 2018 +0000
+++ b/main.cpp Fri May 18 09:03:25 2018 +0000
@@ -10,6 +10,7 @@
#define DEGRAD 0
#define NORMAL 1
+ //#define ALPHA 425000
#define ALPHA 425000
DigitalOut MOTOR1_OP(LED1);
@@ -187,7 +188,7 @@
p_actual = p_actual | msg.data[0];
}
//timer_process_read = 1;
- wait(0.0005);
+ wait(0.005);
send(TPDO1_R, command, 'R', 0); //Ask position for first length
if(can2.read(msg)){
p_actual2 = msg.data[3];
@@ -243,10 +244,12 @@
///////////// MODE NORMAL //////////////////////////////////////
VX = x;
VY = y;
- VM_L = (ALPHA/42);
- VM_L = (VM_L/l1)*((dx*VX)-(dy*VY));
- VM_R = (ALPHA/42);
- VM_R = (VM_R/l2)*((-(lx-dx)*VX)-(dy*VY));
+ VM_L = ((dx*VX)-(dy*VY));
+ VM_L = (VM_L/l1);
+ VM_L = VM_L*(ALPHA/42);
+ VM_R = ((-(lx-dx)*VX)-(dy*VY));
+ VM_R = (VM_R/l2);
+ VM_R = VM_R*(ALPHA/42);
command[0]= (VM_L & 0x000000FF); // Masque + décalage pour translation big vers little endian
command[1]= (VM_L & 0x0000FF00)>>8;
diff -r 1e6d3d9ae1d3 -r 0f63d4cb5613 parameters.h --- a/parameters.h Tue May 15 10:02:20 2018 +0000 +++ b/parameters.h Fri May 18 09:03:25 2018 +0000 @@ -102,4 +102,4 @@ //Right motor to cursor #define LENGTH_L2_PO 781 //Left motor to Right motor -#define LENGTH_MOTOR 985 +#define LENGTH_MOTOR 1000