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.hpp
- Revision:
- 0:0a9ce35078a3
- Child:
- 1:59244694c2bb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/encoder.hpp Tue Sep 21 06:16:58 2021 +0000 @@ -0,0 +1,40 @@ +#ifndef take_encoder +#define take_encoder + +#include "mbed.h" + +#ifndef M_PI +#define M_PI 3.14159265358979 +#endif + +class Encoder{ +public: + Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id); + ~Encoder(); + void Update(double dt); + double get_Theta(); + double get_Omega(); + double get_Alpha(); + double get_Jerk(); + double get_ID(); + long long int pulse; +private: + InterruptIn *pin_A; + InterruptIn *pin_B; + double theta[2]; + double omega[2]; + double alpha[2]; + double jerk; + + int resolution; + int mode; + + void init(); + void riseA(void); + void riseB(void); + void fallA(void); + void fallB(void); + int ID; +}; + +#endif