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.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?

UserRevisionLine numberNew 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