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();
}
}

motor.cpp@11:80800fd9f4af, 2021-10-29 (annotated)

Committer:
hamohamo
Date:
Fri Oct 29 09:20:31 2021 +0000
Revision:
11:80800fd9f4af
Parent:
2:d88ff6dda390 
asd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #include "motor.hpp"
hamohamo 0:0a9ce35078a3 2
hamohamo 0:0a9ce35078a3 3 Motor::Motor(PinName plus,PinName minus,int period,int id):ID(id){
hamohamo 0:0a9ce35078a3 4 Plus = new PwmOut(plus);
hamohamo 0:0a9ce35078a3 5 Minus = new PwmOut(minus);
hamohamo 0:0a9ce35078a3 6 Plus->period_us(period);
hamohamo 0:0a9ce35078a3 7 Minus->period_us(period);
hamohamo 0:0a9ce35078a3 8 }
hamohamo 0:0a9ce35078a3 9 Motor::~Motor(){}
hamohamo 0:0a9ce35078a3 10
hamohamo 0:0a9ce35078a3 11 void Motor::setLimit(double max,double min){
hamohamo 0:0a9ce35078a3 12 Max = max;
hamohamo 0:0a9ce35078a3 13 Min = min;
hamohamo 0:0a9ce35078a3 14 }
hamohamo 0:0a9ce35078a3 15
hamohamo 2:d88ff6dda390 16 void Motor::setPWM(double pwm){
hamohamo 0:0a9ce35078a3 17 if(pwm >= Max) Pwm=Max;
hamohamo 0:0a9ce35078a3 18 else if(pwm<=Min) Pwm=Min;
hamohamo 0:0a9ce35078a3 19 else Pwm=pwm;
hamohamo 0:0a9ce35078a3 20 if(Pwm<0.0){
hamohamo 0:0a9ce35078a3 21 *Plus=0.0;
hamohamo 0:0a9ce35078a3 22 *Minus=Pwm*-1;
hamohamo 0:0a9ce35078a3 23 }
hamohamo 0:0a9ce35078a3 24 else{
hamohamo 0:0a9ce35078a3 25 *Minus=0.0;
hamohamo 0:0a9ce35078a3 26 *Plus=Pwm;
hamohamo 0:0a9ce35078a3 27 }
hamohamo 0:0a9ce35078a3 28 }
hamohamo 0:0a9ce35078a3 29
hamohamo 0:0a9ce35078a3 30 double Motor::get_ID() {return ID;}