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.cpp

Revision:
3:3f42230ca4ec
Parent:
2:d88ff6dda390
Child:
4:2425cd08e0c2
--- a/core.cpp	Wed Oct 13 08:12:34 2021 +0000
+++ b/core.cpp	Wed Oct 13 08:47:03 2021 +0000
@@ -1,6 +1,6 @@
 #include "core.hpp"
 
-Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(4),Encs(8),PIDs(5){}
+Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6){}
 Motor* Core::addMOT(PinName plus,PinName minus,int period,int id){
     Mots.at(id) = new Motor(plus,minus,period,id);
     return Mots.at(id);
@@ -131,11 +131,11 @@
     PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
     //printf("%lf,%lf\n",Encs[rbt->LF]->get_Omega(),w4/rbt->CWR);
     WAIT(0.01);
-    sendPWM(PIDs[rbt->RF]->getGain(),rbt->RF+1);
+    sendPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
     WAIT(0.0125);
-    sendPWM(PIDs[rbt->RB]->getGain(),rbt->RB+1);
+    sendPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
     WAIT(0.015);
-    sendPWM(PIDs[rbt->LB]->getGain(),rbt->LB+1);
+    sendPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
     WAIT(0.0175);
-    sendPWM(PIDs[rbt->LF]->getGain(),rbt->LF+1);
+    sendPWM(PIDs[rbt->LF]->getGain(),rbt->LF);
 }
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