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: pid.hpp

Revision:
2:d88ff6dda390
Parent:
1:59244694c2bb
Child:
5:8dec5e011b3c
--- a/pid.hpp	Tue Sep 21 06:43:07 2021 +0000
+++ b/pid.hpp	Wed Oct 13 08:12:34 2021 +0000
@@ -14,16 +14,16 @@
 public:
   PID(double kp,double ki,double kd,int id);
   ~PID();
-  void setLimit(double max_p,double max_m);
+  void setLimit(double max,double min);
   void Update(double Value,double Target,double dt);
   double getGain();
   double gain;
   double value;
   double target;
   double err[2];
+  double Max;
 private:
-  double Max_P;
-  double Max_M;
+  double Min;
   double Kp;
   double Ki;
   double Kd;