uhbduhbv
Dependencies: BNO055_fusion mbed
Fork of DEMO3 by
LOCOMOTION.cpp@15:7729da55873a, 2016-03-24 (annotated)
- Committer:
- 12104404
- Date:
- Thu Mar 24 07:20:51 2016 +0000
- Revision:
- 15:7729da55873a
- Parent:
- 6:0602a9e8118b
- Child:
- 16:d6f15a13c3aa
how to combine x y control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
12104404 | 6:0602a9e8118b | 1 | #include "LOCOMOTION.h" |
12104404 | 15:7729da55873a | 2 | |
12104404 | 15:7729da55873a | 3 | LOCOMOTION::LOCOMOTION (PinName motor1F, PinName motor1B, PinName motor2F, PinName motor2B, PinName forward1, PinName forward2): |
12104404 | 15:7729da55873a | 4 | _m1f(motor1F), _m1b(motor2F), _m2f(motor2F), _m2b(motor2B), _m1dir(forward1), _m2dir(forward2) |
12104404 | 15:7729da55873a | 5 | { |
12104404 | 15:7729da55873a | 6 | _m1f=0; |
12104404 | 15:7729da55873a | 7 | _m1b=0; |
12104404 | 15:7729da55873a | 8 | _m2f=0; |
12104404 | 15:7729da55873a | 9 | _m2b=0; |
12104404 | 15:7729da55873a | 10 | _m1dir=0; |
12104404 | 15:7729da55873a | 11 | _m2dir=0; |
12104404 | 15:7729da55873a | 12 | } |
12104404 | 15:7729da55873a | 13 | |
12104404 | 15:7729da55873a | 14 | bool LOCOMOTION::setAngle(int target, int current, int error, int mode) |
12104404 | 15:7729da55873a | 15 | { |
12104404 | 15:7729da55873a | 16 | float s = 0; |
12104404 | 15:7729da55873a | 17 | int diff = 0; |
12104404 | 15:7729da55873a | 18 | diff = 180-wrap(target); |
12104404 | 15:7729da55873a | 19 | if(abs(wrap(current+diff)-180)<=error) |
12104404 | 15:7729da55873a | 20 | s=SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 21 | else |
12104404 | 15:7729da55873a | 22 | s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(current+diff)-180)/180)+SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 23 | if(wrap(current+diff)>180+error) { |
12104404 | 15:7729da55873a | 24 | |
12104404 | 15:7729da55873a | 25 | } else if(wrap(current+diff)<180-error) { |
12104404 | 15:7729da55873a | 26 | |
12104404 | 15:7729da55873a | 27 | } else { |
12104404 | 15:7729da55873a | 28 | s = 0; |
12104404 | 15:7729da55873a | 29 | } |
12104404 | 15:7729da55873a | 30 | switch(mode) { |
12104404 | 15:7729da55873a | 31 | case ANGLE_TURN: |
12104404 | 15:7729da55873a | 32 | |
12104404 | 15:7729da55873a | 33 | break; |
12104404 | 15:7729da55873a | 34 | case ANGLE_BIAS: |
12104404 | 15:7729da55873a | 35 | |
12104404 | 15:7729da55873a | 36 | break; |
12104404 | 15:7729da55873a | 37 | } |
12104404 | 15:7729da55873a | 38 | } |
12104404 | 15:7729da55873a | 39 | |
12104404 | 15:7729da55873a | 40 | int LOCOMOTION::wrap(int num) |
12104404 | 15:7729da55873a | 41 | { |
12104404 | 15:7729da55873a | 42 | return num%360; |
12104404 | 15:7729da55873a | 43 | } |
12104404 | 6:0602a9e8118b | 44 | /* |
12104404 | 15:7729da55873a | 45 | void setAngle(int angle) |
12104404 | 15:7729da55873a | 46 | { |
12104404 | 15:7729da55873a | 47 | float s = 0; |
12104404 | 15:7729da55873a | 48 | int diff = 0; |
12104404 | 15:7729da55873a | 49 | diff = 180-wrap(angle); |
12104404 | 15:7729da55873a | 50 | if(abs(wrap(xya.a+diff)-180)<=5) |
12104404 | 15:7729da55873a | 51 | s=SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 52 | else |
12104404 | 15:7729da55873a | 53 | s=((SPEED_TURN_MAX-SPEED_TURN_MIN)*abs(wrap(xya.a+diff)-180)/180)+SPEED_TURN_MIN; |
12104404 | 15:7729da55873a | 54 | motor1F=s; |
12104404 | 15:7729da55873a | 55 | motor1B=s; |
12104404 | 15:7729da55873a | 56 | motor2F=s; |
12104404 | 15:7729da55873a | 57 | motor2B=s; |
12104404 | 15:7729da55873a | 58 | if(wrap(xya.a+diff)>180+2) { |
12104404 | 15:7729da55873a | 59 | dir1=1; |
12104404 | 15:7729da55873a | 60 | dir2=0; |
12104404 | 15:7729da55873a | 61 | } else if(wrap(xya.a+diff)<180-2) { |
12104404 | 15:7729da55873a | 62 | dir1=0; |
12104404 | 15:7729da55873a | 63 | dir2=1; |
12104404 | 15:7729da55873a | 64 | } else { |
12104404 | 15:7729da55873a | 65 | motor1F=0; |
12104404 | 15:7729da55873a | 66 | motor1B=0; |
12104404 | 15:7729da55873a | 67 | motor2F=0; |
12104404 | 15:7729da55873a | 68 | motor2B=0; |
12104404 | 15:7729da55873a | 69 | }*/ |