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:
- 9:489046c1e624
- Parent:
- 0:0a9ce35078a3
--- a/encoder.cpp Fri Oct 22 09:41:23 2021 +0000 +++ b/encoder.cpp Tue Oct 26 15:55:15 2021 +0000 @@ -3,6 +3,14 @@ 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); + pulse = 0; + theta[0] = 0.0; + theta[1] = 0.0; + omega[0] = 0.0; + omega[1] = 0.0; + alpha[0] = 0.0; + alpha[1] = 0.0; + jerk = 0.0; init(); } Encoder::~Encoder(){