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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:
- 12:1fec80ae8a2c
- Parent:
- 10:04f2a82cfd89
- Child:
- 13:dfae731e239f
diff -r 04f2a82cfd89 -r 1fec80ae8a2c main.cpp --- a/main.cpp Sun Jul 16 04:06:49 2017 +0000 +++ b/main.cpp Sun Jul 16 08:35:45 2017 +0000 @@ -10,6 +10,7 @@ #include "limit.h" #include "accelerator.h" #include "encorder.h" +#include "QEI.h" #define pc_baud 460800 #define sbdbt_tx p13 @@ -30,9 +31,9 @@ #define acceleration 25 #define pin_cylinder_on p17 #define pin_cylinder_off p18 -#define interrupt p16 -#define encoder_cylinder_A p25 -#define encoder_cylinder_B p26 +#define interrupt_pin p23 +#define encoder_A p25 +#define encoder_B p26 #define enc_Kp 0.01 #define enc_Ki 0.01 #define enc_Kd 0.01 @@ -40,6 +41,7 @@ DigitalOut led(LED1); DigitalOut sylinder_on(pin_cylinder_on); DigitalOut sylinder_off(pin_cylinder_off); +DigitalIn interrupt(interrupt_pin); Serial pc(USBTX,USBRX); RS422 rs422(rs422_tx, rs422_rx); Sbdbt sbdbt(sbdbt_tx, sbdbt_rx); @@ -51,19 +53,25 @@ Accel v2; Accel v3; Accel v4; -Encoder enc_cylinder(encoder_cylinder_A,encoder_cylinder_B); + +//追加点 +//Encoder enc_cylinder(encoder_A,encoder_B); +QEI wheel(encoder_A, encoder_B, NC, 624); void setup(); void output(); void put_output(); void cylinder_check(); void boost(); +void cylinder_origin(); float yaw, target_yaw; int main() { setup(); while(1) { + led = interrupt; + pc.printf("Pulses is: %i\r\n",wheel.getPulses()); } } @@ -83,8 +91,17 @@ v2.setup(acceleration,output_period); v3.setup(acceleration,output_period); v4.setup(acceleration,output_period); - enc_cylinder.setup(1200); - enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd); + cylinder_origin(); + +//追加点 +// enc_cylinder.setup(1200); +// enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd); +} + +void cylinder_origin(){ + while(interrupt){ + rs422.put(5, -0.8, 0.0); + } } void boost(){ @@ -104,13 +121,13 @@ void cylinder_check() { - if(sbdbt.sankaku) { + if(sbdbt.up) { sylinder_on = 1; } else { sylinder_on = 0; } - if(sbdbt.shikaku) { + if(sbdbt.down) { sylinder_off = 1; } else { sylinder_off = 0; @@ -131,7 +148,7 @@ void output() { put_output(); - //cylinder_check(); + cylinder_check(); boost(); static int counter;