bousiya03
Fujisawaコードをリスペクトした4輪オムニのラフコードだよ
Revision 0:9a36dbb02bc8, committed 2014-06-28
- Comitter:
- Hatter
- Date:
- Sat Jun 28 06:58:19 2014 +0000
- Commit message:
- Fujisawa???????????4????????????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 9a36dbb02bc8 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jun 28 06:58:19 2014 +0000
@@ -0,0 +1,58 @@
+/*
+ * 4WD_OMNI by Tomoki Hokida
+ * Every direction Type
+ *
+ */
+
+#include "mbed.h"
+#include <math.h>
+
+#define PI 3.141592
+
+Serial pc(USBTX,USBRX);
+DigitalOut check(LED1);
+PwmOut wh[4] = {p21,p22,p23,p24};
+
+void moveOmni(int ox,int oy)
+{
+ double trans[4] = {0};
+
+ trans[0] = ox*(cos(0.75*PI)) + oy*(sin(0.75*PI));
+ trans[1] = ox*(cos(-0.75*PI)) + oy*(sin(-0.75*PI));
+ trans[2] = ox*(cos(-0.25*PI)) + oy*(sin(-0.25*PI));
+ trans[3] = ox*(cos(0.25*PI)) + oy*(sin(0.25*PI));
+
+ for(int i=0;i<4;i++){
+
+ if(trans[i]>100){
+ trans[i]=100;
+ }else if(trans[i]<-100){
+ trans[i]=-100;
+ }
+
+ wh[i] = (trans[i]/100.0);
+ }
+
+ pc.printf("motor:%f, motor:%f, motor:%f, motor:%f\n",trans[0],trans[1],trans[2],trans[3]);
+}
+
+int main()
+{
+ int ix,iy;
+
+ for(;;){
+ ix=0;
+ iy=0;
+
+ //ex value
+ switch(pc.getc()){
+ case '1': ix = iy = -100; break;
+ case '2': ix = iy = 0; break;
+ case '3': ix = iy = 100; break;
+ }
+ moveOmni(ix,iy);
+
+ check = !check;
+ }
+
+}
\ No newline at end of file
diff -r 000000000000 -r 9a36dbb02bc8 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jun 28 06:58:19 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/024bf7f99721 \ No newline at end of file