![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of 17robo_Practice1 by
Diff: main.cpp
- Revision:
- 13:dfae731e239f
- Parent:
- 12:1fec80ae8a2c
- Child:
- 14:aac2f18f6779
--- a/main.cpp Sun Jul 16 08:35:45 2017 +0000 +++ b/main.cpp Mon Jul 17 04:55:49 2017 +0000 @@ -10,7 +10,8 @@ #include "limit.h" #include "accelerator.h" #include "encorder.h" -#include "QEI.h" +#include "cyclick.h" +//#include "QEI.h" #define pc_baud 460800 #define sbdbt_tx p13 @@ -31,17 +32,15 @@ #define acceleration 25 #define pin_cylinder_on p17 #define pin_cylinder_off p18 -#define interrupt_pin p23 +#define pin_interrupt p23 #define encoder_A p25 #define encoder_B p26 #define enc_Kp 0.01 #define enc_Ki 0.01 #define enc_Kd 0.01 -DigitalOut led(LED1); -DigitalOut sylinder_on(pin_cylinder_on); -DigitalOut sylinder_off(pin_cylinder_off); -DigitalIn interrupt(interrupt_pin); +DigitalOut led1(LED1); +DigitalIn interrupt(pin_interrupt); Serial pc(USBTX,USBRX); RS422 rs422(rs422_tx, rs422_rx); Sbdbt sbdbt(sbdbt_tx, sbdbt_rx); @@ -53,10 +52,13 @@ Accel v2; Accel v3; Accel v4; +Cyclic_IO led2(LED2); +Cyclic_IO sylinder_on(pin_cylinder_on); +Cyclic_IO sylinder_off(pin_cylinder_off); //追加点 -//Encoder enc_cylinder(encoder_A,encoder_B); -QEI wheel(encoder_A, encoder_B, NC, 624); +Encoder enc_cylinder(encoder_A,encoder_B); +//QEI wheel(encoder_A, encoder_B, NC, 624); void setup(); void output(); @@ -70,8 +72,8 @@ { setup(); while(1) { - led = interrupt; - pc.printf("Pulses is: %i\r\n",wheel.getPulses()); + led1 = interrupt; + //pc.printf("Pulses is: %i\r\n",wheel.getPulses()); } } @@ -91,11 +93,11 @@ v2.setup(acceleration,output_period); v3.setup(acceleration,output_period); v4.setup(acceleration,output_period); - cylinder_origin(); + //cylinder_origin(); //追加点 -// enc_cylinder.setup(1200); -// enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd); + enc_cylinder.setup(1200); + enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd); } void cylinder_origin(){ @@ -121,21 +123,17 @@ void cylinder_check() { - if(sbdbt.up) { - sylinder_on = 1; - } else { - sylinder_on = 0; + //printf("up\t%d\tstate\t%d\tdown\t%d\tstate\t%d\t\r\n",sbdbt.up,sylinder_on.getState(),sbdbt.down,sylinder_off.getState()); + /* + if(sylinder_on?){ + sylinder_on.cyclic(sbdbt.up); + }else if(){ + sylinder_off.cyclic(sbdbt.down); } - - if(sbdbt.down) { - sylinder_off = 1; - } else { - sylinder_off = 0; - } + led2.cyclic(sbdbt.left); + */ } - - void put_output() { yaw = bno055.getYawRad(); @@ -154,7 +152,6 @@ static int counter; int id[nucleo_num] = {n1_id, n2_id, n3_id}; - switch (counter) { case 0: rs422.put(id[counter], v1.duty(mecanum.v1()), v3.duty(mecanum.v3()));