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();
}
}

imc.cpp@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 10:f434b6848059 1 #include "imc.hpp"
hamohamo 10:f434b6848059 2 #include "mbed.h"
hamohamo 10:f434b6848059 3 IMC::IMC(double K,double T,int id):K(K),T(T),ID(id){
hamohamo 10:f434b6848059 4 x = 0.0;
hamohamo 10:f434b6848059 5 mv = 0.0;
hamohamo 10:f434b6848059 6 }
hamohamo 10:f434b6848059 7 double IMC::simulate(double x,double u,double dt){
hamohamo 10:f434b6848059 8 this->x = x + (-x + K*u)/T*dt;
hamohamo 10:f434b6848059 9 return this->x;
hamohamo 10:f434b6848059 10 }
hamohamo 10:f434b6848059 11 void IMC::Update(double Value,double Target,double dt){
hamohamo 10:f434b6848059 12 mv = (Target - Value + simulate(x,mv,dt))*(1.0/K);
hamohamo 11:80800fd9f4af 13
hamohamo 11:80800fd9f4af 14 if(Target == 0.0) mv = 0.0;
hamohamo 10:f434b6848059 15 if(mv<Min) mv = Min;
hamohamo 10:f434b6848059 16 if(mv>Max) mv = Max;
hamohamo 10:f434b6848059 17 }
hamohamo 10:f434b6848059 18 double IMC::getmv(){
hamohamo 10:f434b6848059 19 return mv;
hamohamo 10:f434b6848059 20 }
hamohamo 10:f434b6848059 21 double IMC::getx(){
hamohamo 10:f434b6848059 22 return x;
hamohamo 10:f434b6848059 23 }
hamohamo 10:f434b6848059 24 void IMC::setLimit(double max,double min){
hamohamo 10:f434b6848059 25 Max = max;
hamohamo 10:f434b6848059 26 Min = min;
hamohamo 10:f434b6848059 27 }
hamohamo 10:f434b6848059 28 IMC::~IMC(){}