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?
User | Revision | Line number | New 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 | } |