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();
}
}

Diff: core.hpp

Revision:
0:0a9ce35078a3
Child:
1:59244694c2bb
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/core.hpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,40 @@
+#ifndef take_core
+#define take_core
+
+#include <vector>
+#include "mbed.h"
+#include "motor.hpp"
+#include "encoder.hpp"
+#include "pid.hpp"
+#include "robot.hpp"
+#include "position.hpp"
+
+#define OMNI4 1
+#define OMNI3 2
+#define MECANUM 3
+
+class Core{
+public:
+    Core(Robot* robot,int mode,double dt);
+    void addMOT(PinName plus,PinName minus,int period,int id);
+    void addENC(PinName plus,PinName minus,int resolution,int mode,int id);
+    void addPID(double Kp,double Ki,double Kd,int id);
+    void setLIM(double MOT_max,double MOT_min,double PID_max,double PID_min);
+    void START();
+    bool LOOP();
+    void WAIT(double wt);
+    void setVelocity(double Vx,double Vy,double Vw);
+    Position getStatus();
+    Timer timer;
+    Robot* rbt;
+    std::vector<Motor*>     Mots;
+    std::vector<Encoder*>   Encs;
+    std::vector<PID*>       PIDs;
+private:
+    int mode;
+    double dt;
+    unsigned long long t;
+    Position pos,vel;
+};
+
+#endif
\ No newline at end of file