hirromu takaki / Mbed OS all_wheel

yattaze

Dependencies:   omni_all ikarashiMDC

main.cpp@0:00d1839224b6, 2019-05-02 (annotated)

Committer:
THtakahiro702286
Date:
Thu May 02 08:48:06 2019 +0000
Revision:
0:00d1839224b6
yattaze

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:00d1839224b6 1 #include "mbed.h"
THtakahiro702286 0:00d1839224b6 2 #include "omni_all.h"
THtakahiro702286 0:00d1839224b6 3 #include "ikarashiMDC.h"
THtakahiro702286 0:00d1839224b6 4
THtakahiro702286 0:00d1839224b6 5 Serial pc(USBTX, USBRX, 115200);
THtakahiro702286 0:00d1839224b6 6 Serial serial(PC_6,PC_7);
THtakahiro702286 0:00d1839224b6 7 DigitalOut serialcontrol(D2);
THtakahiro702286 0:00d1839224b6 8 Omni_all omni(3); //オムニホイールの単位円上の位置を入力
THtakahiro702286 0:00d1839224b6 9 Timer rad;
THtakahiro702286 0:00d1839224b6 10
THtakahiro702286 0:00d1839224b6 11 ikarashiMDC ikarashi[] {
THtakahiro702286 0:00d1839224b6 12 ikarashiMDC(&serialcontrol,2,0,SM,&serial),
THtakahiro702286 0:00d1839224b6 13 ikarashiMDC(&serialcontrol,2,1,SM,&serial),
THtakahiro702286 0:00d1839224b6 14 ikarashiMDC(&serialcontrol,2,2,SM,&serial)
THtakahiro702286 0:00d1839224b6 15 };
THtakahiro702286 0:00d1839224b6 16
THtakahiro702286 0:00d1839224b6 17 int main()
THtakahiro702286 0:00d1839224b6 18 {
THtakahiro702286 0:00d1839224b6 19 double acc[3];
THtakahiro702286 0:00d1839224b6 20 serial.baud(115200);
THtakahiro702286 0:00d1839224b6 21 ikarashi[0].braking = true;
THtakahiro702286 0:00d1839224b6 22 for(int i = 0; i < 3; i++)
THtakahiro702286 0:00d1839224b6 23 {
THtakahiro702286 0:00d1839224b6 24 omni.sendRad(PI * (1+4*i)/6, i);
THtakahiro702286 0:00d1839224b6 25 }
THtakahiro702286 0:00d1839224b6 26 rad.start();
THtakahiro702286 0:00d1839224b6 27 while(1)
THtakahiro702286 0:00d1839224b6 28 {
THtakahiro702286 0:00d1839224b6 29 if(rad >= (PI * 2))
THtakahiro702286 0:00d1839224b6 30 {
THtakahiro702286 0:00d1839224b6 31 rad.reset();
THtakahiro702286 0:00d1839224b6 32 }
THtakahiro702286 0:00d1839224b6 33 for(int i = 0; i < 3; i++)
THtakahiro702286 0:00d1839224b6 34 {
THtakahiro702286 0:00d1839224b6 35 acc[i] = omni.vec(rad,i);
THtakahiro702286 0:00d1839224b6 36 }
THtakahiro702286 0:00d1839224b6 37 for(int i = 0; i < 3;i++)
THtakahiro702286 0:00d1839224b6 38 {
THtakahiro702286 0:00d1839224b6 39 ikarashi[i].setSpeed(acc[i] / 2);
THtakahiro702286 0:00d1839224b6 40 }
THtakahiro702286 0:00d1839224b6 41 pc.printf("%f,%f,%f\r\n",acc[0],acc[1],acc[2]);
THtakahiro702286 0:00d1839224b6 42 }
THtakahiro702286 0:00d1839224b6 43 }