Revision 0:c0f3e14f1ed1, committed 2017-10-10

Comitter:

gaku_sigu

Date:

Tue Oct 10 12:50:39 2017 +0000

Child:

1:75b51c0b7f47

Child:

2:fe76af2dff4d

Commit message:

???

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/T_motor.lib	Tue Oct 10 12:50:39 2017 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/gaku_sigu/code/T_motor/#45748b44b89d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni.cpp	Tue Oct 10 12:50:39 2017 +0000
@@ -0,0 +1,62 @@
+#include "omuni.h"
+
+
+        int8_t omuni::map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax) {
+            // check it's within the range
+            if (inMin<inMax) {
+                if (in <= inMin)
+                    return outMin;
+                if (in >= inMax)
+                    return outMax;
+            } else { // cope with input range being backwards.
+                if (in >= inMin)
+                    return outMin;
+                if (in <= inMax)
+                    return outMax;
+            }
+            // calculate how far into the range we are
+            float scale = float(in-inMin)/float(inMax-inMin);
+            // calculate the output.
+            return int8_t(outMin + scale*float(outMax-outMin));
+        }
+        
+        
+        omuni::omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3)
+        :i2c(i2c_),m1(i2c_,addr1),m2(i2c_,addr2),m3(i2c_,addr3)
+        {
+            RXData[0] = 'H';
+            RXData[1] =  0 ;
+            RXData[2] =  0 ;
+            RXData[3] =  0 ;
+            RXData[4] =  0 ;
+        }
+        void omuni::out(char rxdata[dataNum],float L)
+        {
+             signed char x1 = map(rxdata[1],-90,90,-100,100);
+             signed char y1 = map(rxdata[2],-90,90,-100,100);
+             signed char x2 = map(rxdata[3],-90,90,-100,100);
+             signed char y2 = map(rxdata[4],-90,90,-100,100);
+             float r1 = pow(x1*x1+y1*y1,0.5)/100;
+             float r2 = pow(x2*x2+y2*y2,0.5)/100;
+             float sieta1 = atan2(double(x1),double(y1));
+             float sieta2 = atan2(double(x2),double(y2));
+             if(r2 < 0.1F)r2 = 0;
+             float alpha = PI/2;
+             float x_2 = cos(sieta2);
+             float y_2 = sin(sieta2);
+             float w = 0;
+             if(r1 > 0.1F){
+                 if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
+                        w = PI/4;
+                 if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
+                        w = -PI/4;
+            }
+            float s1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
+            float s2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);
+            float s3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
+             m1 = s1;
+             m2 = s2;
+             m3 = s3;
+            //printf("%5.2f : %5.2f : %5.2f : %5.2f",(float)x2,(float)y2,sieta1*180/PI,r1);
+            //printf("\n");
+        }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/omuni.h	Tue Oct 10 12:50:39 2017 +0000
@@ -0,0 +1,21 @@
+#ifndef omuni_H
+#define omuni_H
+#include "T_motor.h"
+#include "mbed.h"
+
+#define PI 3.14159265359
+#define dataNum 5
+
+class omuni{
+    private:
+        I2C *i2c;
+        T_motor m1,m2,m3;
+        char RXData[dataNum];
+        int8_t map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax);
+        
+    public:
+        omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3);
+        void out(char rxdata[dataNum],float L = 0.275);
+        
+};
+#endif   
\ No newline at end of file