Diff: main.cpp

Revision:

0:00d1839224b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu May 02 08:48:06 2019 +0000
@@ -0,0 +1,43 @@
+#include "mbed.h"
+#include "omni_all.h"
+#include "ikarashiMDC.h"
+
+Serial pc(USBTX, USBRX, 115200);
+Serial serial(PC_6,PC_7);
+DigitalOut serialcontrol(D2);
+Omni_all omni(3);   //オムニホイールの単位円上の位置を入力
+Timer rad;
+
+ikarashiMDC ikarashi[] {
+    ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,2,SM,&serial)
+};
+
+int main()
+{
+    double acc[3];
+    serial.baud(115200);
+    ikarashi[0].braking = true;
+    for(int i = 0; i < 3; i++)
+    {
+        omni.sendRad(PI * (1+4*i)/6, i);
+    }
+    rad.start();
+    while(1)
+    {
+        if(rad >= (PI * 2))
+        {
+            rad.reset();
+        }
+        for(int i = 0; i < 3; i++)
+        {
+            acc[i] = omni.vec(rad,i);
+        }
+        for(int i = 0; i < 3;i++)
+        {
+            ikarashi[i].setSpeed(acc[i] / 2);
+        }
+        pc.printf("%f,%f,%f\r\n",acc[0],acc[1],acc[2]);
+    }
+}
\ No newline at end of file