nakashima Kohei / take_mbed

足回り動かすためのライブラリ

使用例

#include "scrp_slave.hpp"
#include "core.hpp"

#include "mbed.h"

ScrpSlave sendpwm(PC_12,PD_2 ,PH_1 ,SERIAL_TX,SERIAL_RX,0x0807f800);
Robot AKASHIKOSEN(50.8,25.4,322.5,259.75);
Core RBT(&AKASHIKOSEN,OMNI4,0.02);

int main(){

/*--------------SETUP--------------*/
AKASHIKOSEN.setCWID(0,1,2,3);
AKASHIKOSEN.setSWID(4,5,6,7);
    
RBT.addENC(PC_4,PA_13,512,4,0);
RBT.addENC(PA_14,PA_15,512,4,1);
RBT.addENC(PC_2,PC_3,512,4,2);
RBT.addENC(PC_10,PC_11,512,4,3);
RBT.addENC(PA_7,PA_6,512,4,4);
RBT.addENC(PA_9,PA_8,512,4,5);
RBT.addENC(PC_1,PC_0,512,4,6);
RBT.addENC(PC_5,PA_12,512,4,7);

RBT.START();
/*--------------LOOP--------------*/
Position pos;
while(true){
    pos = RBT.getStatus();
    printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta);
    RBT.LOOP();
}
}

core.hpp@11:80800fd9f4af, 2021-10-29 (annotated)

Committer:
hamohamo
Date:
Fri Oct 29 09:20:31 2021 +0000
Revision:
11:80800fd9f4af
Parent:
10:f434b6848059 
asd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #ifndef take_core
hamohamo 0:0a9ce35078a3 2 #define take_core
hamohamo 0:0a9ce35078a3 3
hamohamo 2:d88ff6dda390 4 #include "scrp_slave.hpp"
hamohamo 2:d88ff6dda390 5
hamohamo 0:0a9ce35078a3 6 #include <vector>
hamohamo 0:0a9ce35078a3 7 #include "mbed.h"
hamohamo 0:0a9ce35078a3 8 #include "motor.hpp"
hamohamo 0:0a9ce35078a3 9 #include "encoder.hpp"
hamohamo 0:0a9ce35078a3 10 #include "pid.hpp"
hamohamo 10:f434b6848059 11 #include "imc.hpp"
hamohamo 0:0a9ce35078a3 12 #include "robot.hpp"
hamohamo 0:0a9ce35078a3 13 #include "position.hpp"
hamohamo 0:0a9ce35078a3 14
hamohamo 0:0a9ce35078a3 15 #define OMNI4 1
hamohamo 0:0a9ce35078a3 16 #define OMNI3 2
hamohamo 0:0a9ce35078a3 17 #define MECANUM 3
hamohamo 0:0a9ce35078a3 18
hamohamo 1:59244694c2bb 19 /*INFO
hamohamo 1:59244694c2bb 20 *Robot ROBOTNAME(四つ角のタイヤの半径(mm),計測輪の半径(mm),中心から角までの距離(mm),中心からフレームまでの距離(mm));
hamohamo 1:59244694c2bb 21 *Core rbt(&ROBOTNAME,一周期の時間(s);
hamohamo 2:d88ff6dda390 22 *rbt.addMOT(正転ピン,逆転ピン,2048,最大値,最小値,ID(0~3));
hamohamo 1:59244694c2bb 23 *rbt.addENC(正転ピン,逆転ピン,分解能,モード(1~4),ID(0~7));
hamohamo 2:d88ff6dda390 24 *rbt.addPID(Kp,Ki,Kd,最大値,最小値,ID(0~7));
hamohamo 1:59244694c2bb 25 *ROBOTNAME.setCWID(右前輪,右後輪,左後輪,左前輪のID);
hamohamo 1:59244694c2bb 26 *ROBOTNAME setSWID(前方,右方,後方,左方計測輪のID);
hamohamo 1:59244694c2bb 27 *IDは対応するもの同士で合わせてください
hamohamo 2:d88ff6dda390 28 *addMOTやaddPIDのあとに->setLimit(max,min)をつけると値を制限できます
hamohamo 1:59244694c2bb 29 *rbt.START();ロボットの動作開始
hamohamo 1:59244694c2bb 30 *rbt.LOOP();一周期の時間固定のため、ループの最後に書いてください
hamohamo 1:59244694c2bb 31 *rbt.WAIT(時間(us));ループ内の時間がその時間になるまで待機します
hamohamo 1:59244694c2bb 32 *rbt.setVelocity(速度のx成分,y成分,角速度);
hamohamo 1:59244694c2bb 33 *rbt.getStatus();ロボットの速度と位置を取得します
hamohamo 1:59244694c2bb 34 *
hamohamo 1:59244694c2bb 35 */
hamohamo 1:59244694c2bb 36
hamohamo 0:0a9ce35078a3 37 class Core{
hamohamo 0:0a9ce35078a3 38 public:
hamohamo 0:0a9ce35078a3 39 Core(Robot* robot,int mode,double dt);
hamohamo 2:d88ff6dda390 40 Motor* addMOT(PinName plus,PinName minus,int period,int id);
hamohamo 0:0a9ce35078a3 41 void addENC(PinName plus,PinName minus,int resolution,int mode,int id);
hamohamo 2:d88ff6dda390 42 PID* addPID(double Kp,double Ki,double Kd,int id);
hamohamo 10:f434b6848059 43 IMC* addIMC(double K,double T,int id);
hamohamo 2:d88ff6dda390 44 void setVelocity(double Vx,double Vy,double Vw);
hamohamo 2:d88ff6dda390 45 void setPWM(double pwm,int id);
hamohamo 0:0a9ce35078a3 46 void START();
hamohamo 0:0a9ce35078a3 47 bool LOOP();
hamohamo 0:0a9ce35078a3 48 void WAIT(double wt);
hamohamo 6:87fd489a9801 49 Position getStatus(bool onground = true);
hamohamo 0:0a9ce35078a3 50 Timer timer;
hamohamo 0:0a9ce35078a3 51 Robot* rbt;
hamohamo 0:0a9ce35078a3 52 std::vector<Motor*> Mots;
hamohamo 0:0a9ce35078a3 53 std::vector<Encoder*> Encs;
hamohamo 0:0a9ce35078a3 54 std::vector<PID*> PIDs;
hamohamo 10:f434b6848059 55 std::vector<IMC*> IMCs;
hamohamo 2:d88ff6dda390 56 ScrpSlave* scrp;
hamohamo 2:d88ff6dda390 57 Core(Robot* robot,ScrpSlave* scrp,int mode,double dt);
hamohamo 2:d88ff6dda390 58 void sendPWM(double pwm,int id);
hamohamo 2:d88ff6dda390 59 void sendVelocity(double Vx,double Vy,double Vw);
hamohamo 2:d88ff6dda390 60 void setPosition(double x,double y,double theta);
hamohamo 0:0a9ce35078a3 61 private:
hamohamo 0:0a9ce35078a3 62 int mode;
hamohamo 0:0a9ce35078a3 63 double dt;
hamohamo 0:0a9ce35078a3 64 unsigned long long t;
hamohamo 0:0a9ce35078a3 65 Position pos,vel;
hamohamo 0:0a9ce35078a3 66 };
hamohamo 0:0a9ce35078a3 67
hamohamo 0:0a9ce35078a3 68 #endif