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GifuRobo B term
Dependencies: FastPWM cal_PID mbed omuni
Fork of omuni_speed_pid by
main.cpp
- Committer:
- sawai
- Date:
- 2017-08-17
- Revision:
- 0:6da7d0e457a2
- Child:
- 1:baab5b88a142
File content as of revision 0:6da7d0e457a2:
#include "mbed.h" #include "omuni.hpp" int addr[] = {0x10, 0x12, 0x14}; int armAddr[] = {0x16, 0x18}; bool arm = false; Serial p(USBTX, USBRX); Serial pc(PA_11, PA_12); I2C i2cMaster(D14, D15); // archan omuni omuni(&i2cMaster, TIM1, TIM2, TIM3, 800, 2.0f, addr, 0.25f, 0.1f); float vx, vy, ome; bool f, pre_f; char recv[3] = {0}; void pc_rx() { char rtemp = pc.getc(); if((rtemp & 0b11000000) == 0b00000000) recv[0] = rtemp; else if((rtemp & 0b11000000) == 0b01000000) recv[1] = rtemp; else if((rtemp & 0b11000000) == 0b10000000) recv[2] = rtemp; float direc = (recv[0] & 0x0f) * 3.141592 / 8.0; float speed = 0.8 * ((recv[0] & 0b00110000) >> 4); vx = speed * cos(direc) * -1; vy = speed * sin(direc) * -1; if(recv[2] & 0b1) { arm = true; } else { arm = false; } if(recv[1] & 0b11000) { f = false; ome = ((recv[1] & 0b11000) >> 3) * 3.141592 / 2.0; if(recv[1] & 0b100000) ome *= -1; } else { if(recv[1] & 0b11) { f = true; // if(pre_f == false) omuni.reset_theta(); } else { f = false; } ome = (recv[1] & 0b11) * 3.141592 / 2.0; if((recv[1] & 0b100)) ome *= -1; } pre_f = f; } int main() { p.baud(115200); pc.baud(9600); pc.printf("Hello!\n"); pc.attach(pc_rx, Serial::RxIrq); omuni.set_speed(0.0f, 0.0f); // archan omuni.set_pid(0, 3.0f, 0.07f, 0.05f); omuni.set_pid(1, 3.0f, 0.07f, 0.05f); omuni.set_pid(2, 3.0f, 0.07f, 0.05f); while(1) { wait(0.001); omuni.set_speed(vx, vy, ome, f); omuni.drive(); if(arm) { char send = -127; i2cMaster.write(armAddr[0], &send, 1); i2cMaster.write(armAddr[1], &send, 1); } else { char send = 0; i2cMaster.write(armAddr[0], &send, 1); i2cMaster.write(armAddr[1], &send, 1); } p.printf("%f\n", omuni.get_theta()); } }