yattaze
Dependencies: omni_all ikarashiMDC
main.cpp
- Committer:
- THtakahiro702286
- Date:
- 2019-05-02
- Revision:
- 0:00d1839224b6
File content as of revision 0:00d1839224b6:
#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]); } }