sampleProgram
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_fuzi by
mecanum.h@0:bf96e953cdb8, 2017-06-26 (annotated)
- Committer:
- echo_piyo
- Date:
- Mon Jun 26 09:59:14 2017 +0000
- Revision:
- 0:bf96e953cdb8
- Child:
- 5:6efda58ff71b
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
echo_piyo | 0:bf96e953cdb8 | 1 | /* |
echo_piyo | 0:bf96e953cdb8 | 2 | Mecanum mecanum |
echo_piyo | 0:bf96e953cdb8 | 3 | |
echo_piyo | 0:bf96e953cdb8 | 4 | .setupdeg([float]Deg) //角度センサの初期値設定 |
echo_piyo | 0:bf96e953cdb8 | 5 | .sbdbt_cal([float]Vx, [float]Vy, [int]con_rl, [int]con_l1, [float]w, [float]angle) //使わない部分は0を代入 |
echo_piyo | 0:bf96e953cdb8 | 6 | .xy_cal([float]Vx, [float]Vy) //xyの代入値(-1.0 ~ 1.0) |
echo_piyo | 0:bf96e953cdb8 | 7 | |
echo_piyo | 0:bf96e953cdb8 | 8 | .v1 //(返り値[float] -1.0 ~ 1.0) モータ1用出力 |
echo_piyo | 0:bf96e953cdb8 | 9 | .v2 //(返り値[float] -1.0 ~ 1.0) モータ2用出力 |
echo_piyo | 0:bf96e953cdb8 | 10 | .v3 //(返り値[float] -1.0 ~ 1.0) モータ3用出力 |
echo_piyo | 0:bf96e953cdb8 | 11 | .v4 //(返り値[float] -1.0 ~ 1.0) モータ4用出力 |
echo_piyo | 0:bf96e953cdb8 | 12 | |
echo_piyo | 0:bf96e953cdb8 | 13 | メカナム設置図 |
echo_piyo | 0:bf96e953cdb8 | 14 | ↑→ ←↑ |
echo_piyo | 0:bf96e953cdb8 | 15 | O---O |
echo_piyo | 0:bf96e953cdb8 | 16 | O---O |
echo_piyo | 0:bf96e953cdb8 | 17 | ←↑ ↑→ |
echo_piyo | 0:bf96e953cdb8 | 18 | |
echo_piyo | 0:bf96e953cdb8 | 19 | |
echo_piyo | 0:bf96e953cdb8 | 20 | */ |
echo_piyo | 0:bf96e953cdb8 | 21 | |
echo_piyo | 0:bf96e953cdb8 | 22 | #define rotaPower 0.3 |
echo_piyo | 0:bf96e953cdb8 | 23 | #define PI 3.141592 |
echo_piyo | 0:bf96e953cdb8 | 24 | |
echo_piyo | 0:bf96e953cdb8 | 25 | class Mecanum{ |
echo_piyo | 0:bf96e953cdb8 | 26 | public: |
echo_piyo | 0:bf96e953cdb8 | 27 | void setupdeg(float Deg){ |
echo_piyo | 0:bf96e953cdb8 | 28 | first_deg = Deg; |
echo_piyo | 0:bf96e953cdb8 | 29 | } |
echo_piyo | 0:bf96e953cdb8 | 30 | |
echo_piyo | 0:bf96e953cdb8 | 31 | void sbdbt_cal(float Vx, float Vy, int r1, int l1,float w, float angle){ |
echo_piyo | 0:bf96e953cdb8 | 32 | rad = (angle - first_deg)/180*PI; |
echo_piyo | 0:bf96e953cdb8 | 33 | |
echo_piyo | 0:bf96e953cdb8 | 34 | vx = Vx / 2 * cos(rad) - Vy / 2 * sin(rad); |
echo_piyo | 0:bf96e953cdb8 | 35 | vy = Vx / 2 * sin(rad) + Vy / 2 * cos(rad); |
echo_piyo | 0:bf96e953cdb8 | 36 | |
echo_piyo | 0:bf96e953cdb8 | 37 | V1 = -vx + vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 38 | V2 = vx - vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 39 | V3 = vx + vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 40 | V4 = -vx - vy + rotaPower * (l1 - r1) + w; |
echo_piyo | 0:bf96e953cdb8 | 41 | |
echo_piyo | 0:bf96e953cdb8 | 42 | /* |
echo_piyo | 0:bf96e953cdb8 | 43 | V1 = vx + vy + rotaPower * (r1 - l1) + w; |
echo_piyo | 0:bf96e953cdb8 | 44 | V2 = vx - vy + rotaPower * (r1 - l1) + w; |
echo_piyo | 0:bf96e953cdb8 | 45 | V3 = -vx + vy + rotaPower * (r1 - l1) + w; |
echo_piyo | 0:bf96e953cdb8 | 46 | V4 = -vx - vy + rotaPower * (r1 - l1) + w; |
echo_piyo | 0:bf96e953cdb8 | 47 | */ |
echo_piyo | 0:bf96e953cdb8 | 48 | } |
echo_piyo | 0:bf96e953cdb8 | 49 | |
echo_piyo | 0:bf96e953cdb8 | 50 | void xy_cal(float Vx, float Vy){ |
echo_piyo | 0:bf96e953cdb8 | 51 | V1 = Vx / 2 + Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 52 | V2 = Vx / 2 - Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 53 | V3 = -Vx / 2 + Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 54 | V4 = -Vx / 2 - Vy / 2; |
echo_piyo | 0:bf96e953cdb8 | 55 | } |
echo_piyo | 0:bf96e953cdb8 | 56 | |
echo_piyo | 0:bf96e953cdb8 | 57 | float v1(){ |
echo_piyo | 0:bf96e953cdb8 | 58 | return V1; |
echo_piyo | 0:bf96e953cdb8 | 59 | } |
echo_piyo | 0:bf96e953cdb8 | 60 | |
echo_piyo | 0:bf96e953cdb8 | 61 | float v2(){ |
echo_piyo | 0:bf96e953cdb8 | 62 | return V2; |
echo_piyo | 0:bf96e953cdb8 | 63 | } |
echo_piyo | 0:bf96e953cdb8 | 64 | |
echo_piyo | 0:bf96e953cdb8 | 65 | float v3(){ |
echo_piyo | 0:bf96e953cdb8 | 66 | return V3; |
echo_piyo | 0:bf96e953cdb8 | 67 | } |
echo_piyo | 0:bf96e953cdb8 | 68 | |
echo_piyo | 0:bf96e953cdb8 | 69 | float v4(){ |
echo_piyo | 0:bf96e953cdb8 | 70 | return V4; |
echo_piyo | 0:bf96e953cdb8 | 71 | } |
echo_piyo | 0:bf96e953cdb8 | 72 | |
echo_piyo | 0:bf96e953cdb8 | 73 | float VX(){ |
echo_piyo | 0:bf96e953cdb8 | 74 | return vx; |
echo_piyo | 0:bf96e953cdb8 | 75 | } |
echo_piyo | 0:bf96e953cdb8 | 76 | |
echo_piyo | 0:bf96e953cdb8 | 77 | float VY(){ |
echo_piyo | 0:bf96e953cdb8 | 78 | return vy; |
echo_piyo | 0:bf96e953cdb8 | 79 | } |
echo_piyo | 0:bf96e953cdb8 | 80 | |
echo_piyo | 0:bf96e953cdb8 | 81 | |
echo_piyo | 0:bf96e953cdb8 | 82 | private: |
echo_piyo | 0:bf96e953cdb8 | 83 | float V1, V2, V3, V4, vx, vy; |
echo_piyo | 0:bf96e953cdb8 | 84 | float first_deg, rad; |
echo_piyo | 0:bf96e953cdb8 | 85 | }; |