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: robot.hpp

Revision:
0:0a9ce35078a3
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/robot.hpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,25 @@
+#ifndef take_robot
+#define take_robot
+
+class Robot{
+public:
+    Robot(double corner_wheel_radius,double side_wheel_radius,double c2corner_distance,double c2side_distance):CWR(corner_wheel_radius),SWR(side_wheel_radius),C2CD(c2corner_distance),C2SD(c2side_distance) {};
+    void setCWID(int right_front,int right_back,int left_back,int left_front){
+        RF = right_front;
+        RB = right_back;
+        LB = left_back;
+        LF = left_front;
+    }
+    void setSWID(int front,int right,int back,int left){
+        F = front;
+        R = right;
+        B = back;
+        L = left;
+    }
+    double CWR,SWR,C2CD,C2SD;
+    int RF,LF,RB,LB;
+    int F,R,B,L;
+private:
+};
+
+#endif