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:
5:8dec5e011b3c
Parent:
4:2425cd08e0c2
Child:
6:87fd489a9801
--- a/core.cpp	Wed Oct 13 10:00:55 2021 +0000
+++ b/core.cpp	Mon Oct 18 08:15:39 2021 +0000
@@ -63,6 +63,7 @@
     PIDs[rbt->RB]->Update(Encs[rbt->RB]->get_Omega(),w2/rbt->CWR,dt);
     PIDs[rbt->LB]->Update(Encs[rbt->LB]->get_Omega(),w3/rbt->CWR,dt);
     PIDs[rbt->LF]->Update(Encs[rbt->LF]->get_Omega(),w4/rbt->CWR,dt);
+    printf("%lf,%lf",Encs[rbt->RF]->get_Omega(),w1/rbt->CWR);
     setPWM(PIDs[rbt->RF]->getGain(),rbt->RF);
     setPWM(PIDs[rbt->RB]->getGain(),rbt->RB);
     setPWM(PIDs[rbt->LB]->getGain(),rbt->LB);
@@ -97,7 +98,7 @@
     return pos;
 }
 Core::Core(Robot* robot,ScrpSlave* scrp,int mode,double dt):rbt(robot),scrp(scrp),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6){}
-void Core::sendPWM(double pwm,int id){scrp->send1(255, id ,(pwm * 100));}
+void Core::sendPWM(double pwm,int id){scrp->send1(255, id ,(pwm * 100.0));}
 void Core::sendVelocity(double Vx,double Vy,double Vw){
     double w1,w2,w3,w4;
     double k = sqrt(2.0)/2.0;