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;