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.hpp@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 #ifndef take_motor
hamohamo 0:0a9ce35078a3 2 #define take_motor
hamohamo 0:0a9ce35078a3 3
hamohamo 0:0a9ce35078a3 4 #include "mbed.h"
hamohamo 0:0a9ce35078a3 5
hamohamo 1:59244694c2bb 6 /*INFO
hamohamo 1:59244694c2bb 7 *coreを使わない場合idはなんでもいいです
hamohamo 1:59244694c2bb 8 *setLimitは出力するpidの上限下限を設定できます
hamohamo 1:59244694c2bb 9 *setPwmでpwm出力ができます
hamohamo 1:59244694c2bb 10 *
hamohamo 1:59244694c2bb 11 */
hamohamo 0:0a9ce35078a3 12 class Motor{
hamohamo 0:0a9ce35078a3 13 public:
hamohamo 0:0a9ce35078a3 14 Motor(PinName plus,PinName minus,int period,int id);
hamohamo 0:0a9ce35078a3 15 ~Motor();
hamohamo 0:0a9ce35078a3 16 void setLimit(double max,double min);
hamohamo 2:d88ff6dda390 17 void setPWM(double pwm);
hamohamo 0:0a9ce35078a3 18 double get_ID();
hamohamo 0:0a9ce35078a3 19 private:
hamohamo 0:0a9ce35078a3 20 PwmOut *Plus;
hamohamo 0:0a9ce35078a3 21 PwmOut *Minus;
hamohamo 0:0a9ce35078a3 22 double Max;
hamohamo 0:0a9ce35078a3 23 double Min;
hamohamo 0:0a9ce35078a3 24 double Pwm;
hamohamo 0:0a9ce35078a3 25 int ID;
hamohamo 0:0a9ce35078a3 26 };
hamohamo 0:0a9ce35078a3 27
hamohamo 0:0a9ce35078a3 28 #endif