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.hpp

Revision:
10:f434b6848059
Parent:
6:87fd489a9801
--- a/core.hpp	Tue Oct 26 15:55:15 2021 +0000
+++ b/core.hpp	Thu Oct 28 10:58:56 2021 +0000
@@ -8,6 +8,7 @@
 #include "motor.hpp"
 #include "encoder.hpp"
 #include "pid.hpp"
+#include "imc.hpp"
 #include "robot.hpp"
 #include "position.hpp"
 
@@ -39,6 +40,7 @@
     Motor* addMOT(PinName plus,PinName minus,int period,int id);
     void addENC(PinName plus,PinName minus,int resolution,int mode,int id);
     PID* addPID(double Kp,double Ki,double Kd,int id);
+    IMC* addIMC(double K,double T,int id);
     void setVelocity(double Vx,double Vy,double Vw);
     void setPWM(double pwm,int id);
     void START();
@@ -50,6 +52,7 @@
     std::vector<Motor*>     Mots;
     std::vector<Encoder*>   Encs;
     std::vector<PID*>       PIDs;
+    std::vector<IMC*>       IMCs;
     ScrpSlave* scrp;
     Core(Robot* robot,ScrpSlave* scrp,int mode,double dt);
     void sendPWM(double pwm,int id);