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:
7:c0b6afbccd97
Parent:
6:87fd489a9801
Child:
8:475c17b23944
--- a/core.cpp	Thu Oct 21 16:16:01 2021 +0000
+++ b/core.cpp	Fri Oct 22 07:44:53 2021 +0000
@@ -34,13 +34,15 @@
 }
 void Core::setVelocity(double Vx,double Vy,double Vw){
     double w1,w2,w3,w4;
-    double k = sqrt(2.0)/2.0;
+    double vx,vy;
+    vx = cos(pos.theta-M_PI/4.0)*Vx + sin(pos.theta-M_PI/4.0)*Vy;
+    vy = - sin(pos.theta-M_PI/4.0)*Vx + cos(pos.theta-M_PI/4.0)*Vy;
     switch(mode){
         case OMNI4:
-            w1 = -Vx*k*(sin(pos.theta)+cos(pos.theta)) - Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
-            w2 = -Vx*k*(sin(pos.theta)-cos(pos.theta)) + Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
-            w3 =  Vx*k*(sin(pos.theta)+cos(pos.theta)) + Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
-            w4 =  Vx*k*(sin(pos.theta)-cos(pos.theta)) - Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
+            w1 = -vx + rbt->C2CD*Vw;
+            w2 = vy + rbt->C2CD*Vw;
+            w3 = vx + rbt->C2CD*Vw;
+            w4 = -vy + rbt->C2CD*Vw;
             break;
         case OMNI3:
             w1 = 0.0;
@@ -102,8 +104,8 @@
         vY = sin(pos.theta)*vx + cos(pos.theta)*vy;
     }
     else {
-        vX = cos(pos.theta-M_PI/2.0)*vx - sin(pos.theta-M_PI/2.0)*vy;
-        vY = sin(pos.theta-M_PI/2.0)*vx + cos(pos.theta-M_PI/2.0)*vy;
+        vX = cos(pos.theta-M_PI/4.0)*vx - sin(pos.theta-M_PI/4.0)*vy;
+        vY = sin(pos.theta-M_PI/4.0)*vx + cos(pos.theta-M_PI/4.0)*vy;
     }
     
     pos.x += (vel.x+vX)*dt/2.0;
@@ -118,13 +120,15 @@
 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;
+    double vx,vy;
+    vx = cos(pos.theta-M_PI/4.0)*Vx + sin(pos.theta-M_PI/4.0)*Vy;
+    vy = - sin(pos.theta-M_PI/4.0)*Vx + cos(pos.theta-M_PI/4.0)*Vy;
     switch(mode){
         case OMNI4:
-            w1 = -Vx*k*(sin(pos.theta)+cos(pos.theta)) - Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
-            w2 = -Vx*k*(sin(pos.theta)-cos(pos.theta)) + Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
-            w3 =  Vx*k*(sin(pos.theta)+cos(pos.theta)) + Vy*k*(sin(pos.theta)-cos(pos.theta)) + rbt->C2CD*Vw;
-            w4 =  Vx*k*(sin(pos.theta)-cos(pos.theta)) - Vy*k*(sin(pos.theta)+cos(pos.theta)) + rbt->C2CD*Vw;
+            w1 = -vx + rbt->C2CD*Vw;
+            w2 = vy + rbt->C2CD*Vw;
+            w3 = vx + rbt->C2CD*Vw;
+            w4 = -vy + rbt->C2CD*Vw;
             break;
         case OMNI3:
             w1 = 0.0;