Revision 3:01a6eca21b23, committed 2019-09-09

Comitter:

THtakahiro702286

Date:

Mon Sep 09 04:48:30 2019 +0000

Parent:

2:9017bbe177b7

Commit message:

wheelUnit

Changed in this revision

--- a/wheelUnit.cpp	Thu Jul 11 09:19:29 2019 +0000
+++ b/wheelUnit.cpp	Mon Sep 09 04:48:30 2019 +0000
@@ -5,18 +5,23 @@
     pc(USBTX, USBRX, 115200)
 {
     md = new ikarashiMDC*[4];
-    for(int i = 0; i < 4; ++i) md[i] = new ikarashiMDC(2,i,SM,serial);
-    for(int i = 0; i < 4; ++i) md[i]->braking = true;
+    for(int i = 0; i < 4; i++) md[i] = new ikarashiMDC(1,i,SM,serial);
+    for(int i = 0; i < 4; i++) md[i]->braking = true;
     for(int i = 0; i < 4; i++) omni.wheel[i].setRadian(PI / 4.0 * (2.0*i+1.0));
 }
 
+void WheelUnit::setBrake(int trigger)
+{
+    brake = (255 - trigger) / 255.0;
+}
+
 void WheelUnit::move(float x,float y,float turnPower)
 {
     omni.computeXY(x,y,turnPower);
     for (int i = 0; i < 4; ++i) wheel[i] = omni.wheel[i];
-    for (int i = 0; i < 4; ++i) md[i]->setSpeed(wheel[i] * SPEEDRATE);
+    for (int i = 0; i < 4; ++i) md[i]->setSpeed(wheel[i] * brake);
     print = omni.wheel[0];
-    pc.printf("%f\n\r",print);
+//    pc.printf("%f\n\r",print);
 }
 
 void WheelUnit::stop()

--- a/wheelUnit.h	Thu Jul 11 09:19:29 2019 +0000
+++ b/wheelUnit.h	Mon Sep 09 04:48:30 2019 +0000
@@ -12,6 +12,7 @@
 {
 public:
     WheelUnit(Serial* serial);
+    void setBrake(int trigger);
     void move(float x,float y,float turnPower);
     void stop();
 
@@ -21,6 +22,7 @@
     Serial pc;
     float print;
     float wheel[4];
+    float brake;
 };
 
 #endif
\ No newline at end of file