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.hpp@10:f434b6848059, 2021-10-28 (annotated)
- Committer:
- hamohamo
- Date:
- Thu Oct 28 10:58:56 2021 +0000
- Revision:
- 10:f434b6848059
asd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 10:f434b6848059 | 1 | #ifndef take_IMC |
hamohamo | 10:f434b6848059 | 2 | #define take_IMC |
hamohamo | 10:f434b6848059 | 3 | |
hamohamo | 10:f434b6848059 | 4 | #ifndef M_PI |
hamohamo | 10:f434b6848059 | 5 | #define M_PI 3.14159265358979 |
hamohamo | 10:f434b6848059 | 6 | #endif |
hamohamo | 10:f434b6848059 | 7 | /*INFO |
hamohamo | 10:f434b6848059 | 8 | *coreを使わない場合idはなんでもいいです |
hamohamo | 10:f434b6848059 | 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 | 10:f434b6848059 | 10 | *getmvで操作量を含んだ結果を取得できます |
hamohamo | 10:f434b6848059 | 11 | * |
hamohamo | 10:f434b6848059 | 12 | */ |
hamohamo | 10:f434b6848059 | 13 | class IMC |
hamohamo | 10:f434b6848059 | 14 | { |
hamohamo | 10:f434b6848059 | 15 | public: |
hamohamo | 10:f434b6848059 | 16 | IMC(double K,double T,int id); |
hamohamo | 10:f434b6848059 | 17 | ~IMC(); |
hamohamo | 10:f434b6848059 | 18 | double simulate(double x,double u,double dt); |
hamohamo | 10:f434b6848059 | 19 | double getmv(); |
hamohamo | 10:f434b6848059 | 20 | void Update(double Value,double Target,double dt); |
hamohamo | 10:f434b6848059 | 21 | double getx(); |
hamohamo | 10:f434b6848059 | 22 | void setLimit(double max,double min); |
hamohamo | 10:f434b6848059 | 23 | private: |
hamohamo | 10:f434b6848059 | 24 | double x; |
hamohamo | 10:f434b6848059 | 25 | double K; |
hamohamo | 10:f434b6848059 | 26 | double T; |
hamohamo | 10:f434b6848059 | 27 | double mv; |
hamohamo | 10:f434b6848059 | 28 | |
hamohamo | 10:f434b6848059 | 29 | double Max; |
hamohamo | 10:f434b6848059 | 30 | double Min; |
hamohamo | 10:f434b6848059 | 31 | int ID; |
hamohamo | 10:f434b6848059 | 32 | }; |
hamohamo | 10:f434b6848059 | 33 | |
hamohamo | 10:f434b6848059 | 34 | #endif |