Diff: main.cpp

Revision:

66:1664ee92539d

Parent:

65:5e4c2e5494ae

Child:

67:b094d88583be

--- a/main.cpp	Sun Sep 24 01:28:34 2017 +0000
+++ b/main.cpp	Sun Sep 24 05:25:03 2017 +0000
@@ -1,8 +1,8 @@
 //index_include
 #include "mbed.h"
 #include "math.h"
-#include "bit_test.h"
-#include "RS422_put.h"
+//#include "bit_test.h"
+#include "rs422_put.h"
 #include "sbdbt.h"
 #include "mecanum.h"
 #include "bno055_lib.h"
@@ -10,11 +10,11 @@
 #include "pid.h"
 #include "limit.h"
 #include "accelerator.h"
-#include "encorder.h"
-#include "cyclic.h"
-#include "cyclic_IO.h"
+#include "pid_encoder.h"
+#include "cyclic_var.h"
+#include "cyclic_io.h"
 #include "cylinder.h"
-#include "varEvent.h"
+#include "event_var.h"
 
 //index_define
 #define pc_baud     460800
@@ -67,30 +67,30 @@
 DigitalOut led4(LED4);
 DigitalIn interrupt_cylinder_min(pin_interrupt_cylinder_min);
 Serial pc(USBTX,USBRX);
-RS422 rs422(rs422_tx, rs422_rx);
+Rs422 rs422(rs422_tx, rs422_rx);
 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx, pin_sbdbt_pairing);
 Ticker output_timer;
 Mecanum mecanum;
 Bno055 bno055;
-Position_pid yaw_pid;
-Accel v1;
-Accel v2;
-Accel v3;
-Accel v4;
+PositionPid yaw_pid;
+Accelerator v1;
+Accelerator v2;
+Accelerator v3;
+Accelerator v4;
 DigitalOut cylinder_on(pin_cylinder_on);
 DigitalOut cylinder_off(pin_cylinder_off);
-Cyclic sword;
-Cyclic cyclic_cylinder_position;
+CyclicVar sword;
+CyclicVar cyclic_cylinder_position;
 DigitalIn interrupt_sholderright_min(pin_interrupt_sholderright_min);
 DigitalIn interrupt_sholderright_max(pin_interrupt_sholderright_max);
 DigitalIn interrupt_sholderleft_min(pin_interrupt_sholderleft_min);
 DigitalIn interrupt_sholderleft_max(pin_interrupt_sholderleft_max);
 Encoder enc_cylinder(encoder_A,encoder_B);
-Cyclic cyclic_servo;
-Cyclic_IO cylinder_reload(pin_cylinder_reload);
+CyclicVar cyclic_servo;
+CyclicIo cylinder_reload(pin_cylinder_reload);
 //PwmOut servo(pin_servo);
 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
-varEvent cylinder_event;
+eventVar cylinder_event;
 
 //index_setupFunction
 void setup();
@@ -141,14 +141,14 @@
     firstmotion();
     cylinder_pos_num = 2;                   //セットアップタイムでの初期装填のため
     output_timer.attach(&output, output_period);
-    yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
+    yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd,output_period);
     mecanum.setupdeg(bno055.getYawRad());   //基盤が前後逆の場合+180
     v1.setup(acceleration,output_period);
     v2.setup(acceleration,output_period);
     v3.setup(acceleration,output_period);
     v4.setup(acceleration,output_period);
-    enc_cylinder.setup(100);
-    enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
+    enc_cylinder.setPpr(100);
+    enc_cylinder.setup(enc_Kp,enc_Ki,enc_Kd,output_period);
     //servo.period(0.020);
 }
 
@@ -287,7 +287,7 @@
     static float out_right_x;
     yaw = bno055.getYawRad();
     target_yaw = yaw;
-    yaw_pid.cal(target_yaw, yaw, output_period); 
+    yaw_pid.calculate(target_yaw, yaw); 
     
     //後進時に方向が逆転するため
     if(sbdbt.right_y < 0.0){