hirromu takaki
yattaze
Dependencies: omni_all ikarashiMDC
Revision 0:00d1839224b6, committed 2019-05-02
- Comitter:
- THtakahiro702286
- Date:
- Thu May 02 08:48:06 2019 +0000
- Commit message:
- yattaze
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Thu May 02 08:48:06 2019 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC.lib Thu May 02 08:48:06 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC/#ea34af94e90c
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Thu May 02 08:48:06 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/omni_all.lib Thu May 02 08:48:06 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/THtakahiro702286/code/omni_all/#657446f249bc