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();
}
}

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

Committer:
hamohamo
Date:
Fri Oct 29 09:20:31 2021 +0000
Revision:
11:80800fd9f4af
Parent:
6:87fd489a9801 
asd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #ifndef take_PID
hamohamo 0:0a9ce35078a3 2 #define take_PID
hamohamo 0:0a9ce35078a3 3
hamohamo 0:0a9ce35078a3 4 #ifndef M_PI
hamohamo 0:0a9ce35078a3 5 #define M_PI 3.14159265358979
hamohamo 0:0a9ce35078a3 6 #endif
hamohamo 1:59244694c2bb 7 /*INFO
hamohamo 1:59244694c2bb 8 *coreを使わない場合idはなんでもいいです
hamohamo 1:59244694c2bb 9 *UpdateのValueには現在値、ターゲットには目標値、dtには微分する時間を入れてください
hamohamo 5:8dec5e011b3c 10 *getmvで操作量を含んだ結果を取得できます
hamohamo 1:59244694c2bb 11 *
hamohamo 1:59244694c2bb 12 */
hamohamo 0:0a9ce35078a3 13 class PID{
hamohamo 0:0a9ce35078a3 14 public:
hamohamo 0:0a9ce35078a3 15 PID(double kp,double ki,double kd,int id);
hamohamo 0:0a9ce35078a3 16 ~PID();
hamohamo 2:d88ff6dda390 17 void setLimit(double max,double min);
hamohamo 6:87fd489a9801 18 void Update(double Value,double Target,double dt,bool addmv = true);
hamohamo 5:8dec5e011b3c 19 double getmv();
hamohamo 5:8dec5e011b3c 20 double mv;
hamohamo 0:0a9ce35078a3 21 double value;
hamohamo 0:0a9ce35078a3 22 double target;
hamohamo 5:8dec5e011b3c 23 double e[3];
hamohamo 2:d88ff6dda390 24 double Max;
hamohamo 0:0a9ce35078a3 25 private:
hamohamo 2:d88ff6dda390 26 double Min;
hamohamo 0:0a9ce35078a3 27 double Kp;
hamohamo 0:0a9ce35078a3 28 double Ki;
hamohamo 0:0a9ce35078a3 29 double Kd;
hamohamo 0:0a9ce35078a3 30 double P;
hamohamo 0:0a9ce35078a3 31 double I;
hamohamo 0:0a9ce35078a3 32 double D;
hamohamo 0:0a9ce35078a3 33 double integral;
hamohamo 0:0a9ce35078a3 34 int ID;
hamohamo 0:0a9ce35078a3 35 };
hamohamo 0:0a9ce35078a3 36
hamohamo 0:0a9ce35078a3 37 #endif