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: encoder.cpp

Revision:
0:0a9ce35078a3
Child:
9:489046c1e624
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.cpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,43 @@
+#include "encoder.hpp"
+
+Encoder::Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id):resolution(resolution),mode(mode),ID(id){
+    pin_A = new InterruptIn(pinA,PullUp);
+    pin_B = new InterruptIn(pinB,PullUp);
+    init();
+}
+Encoder::~Encoder(){
+    pin_B->disable_irq();
+    pin_B->disable_irq();
+    delete pin_A;
+    delete pin_B;
+}
+
+void Encoder::Update(double dt){
+    theta[1] = 2.0*M_PI * pulse / resolution / mode;
+    omega[1] = (theta[1]-theta[0])/dt;
+    alpha[1] = (omega[1]-omega[0])/dt;
+    jerk     = (alpha[1]-alpha[0])/dt;
+    theta[0] = theta[1];
+    omega[0] = omega[1];
+    alpha[0] = alpha[1];
+}
+
+double Encoder::get_Theta() {return theta[1];}
+double Encoder::get_Omega() {return omega[1];}
+double Encoder::get_Alpha() {return alpha[1];}
+double Encoder::get_Jerk()  {return jerk;}
+double Encoder::get_ID()    {return ID;}
+
+void Encoder::init(){
+    pulse = 0;
+    if(mode <= 0 or 4 < mode) mode = 4;
+    if(1 <= mode) pin_A->rise(callback(this,&Encoder::riseA));
+    if(2 <= mode) pin_A->fall(callback(this,&Encoder::fallA));
+    if(3 <= mode) pin_B->rise(callback(this,&Encoder::riseB));
+    if(4 <= mode) pin_B->fall(callback(this,&Encoder::fallB));
+}
+
+void Encoder::riseA(void){pin_B->read() ? pulse-- : pulse++;}
+void Encoder::riseB(void){pin_A->read() ? pulse++ : pulse--;}
+void Encoder::fallA(void){pin_B->read() ? pulse++ : pulse--;}
+void Encoder::fallB(void){pin_A->read() ? pulse-- : pulse++;}