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();
}
}

core.hpp

Committer:
hamohamo
Date:
2021-09-21
Revision:
0:0a9ce35078a3
Child:
1:59244694c2bb

File content as of revision 0:0a9ce35078a3:

#ifndef take_core
#define take_core

#include <vector>
#include "mbed.h"
#include "motor.hpp"
#include "encoder.hpp"
#include "pid.hpp"
#include "robot.hpp"
#include "position.hpp"

#define OMNI4 1
#define OMNI3 2
#define MECANUM 3

class Core{
public:
    Core(Robot* robot,int mode,double dt);
    void addMOT(PinName plus,PinName minus,int period,int id);
    void addENC(PinName plus,PinName minus,int resolution,int mode,int id);
    void addPID(double Kp,double Ki,double Kd,int id);
    void setLIM(double MOT_max,double MOT_min,double PID_max,double PID_min);
    void START();
    bool LOOP();
    void WAIT(double wt);
    void setVelocity(double Vx,double Vy,double Vw);
    Position getStatus();
    Timer timer;
    Robot* rbt;
    std::vector<Motor*>     Mots;
    std::vector<Encoder*>   Encs;
    std::vector<PID*>       PIDs;
private:
    int mode;
    double dt;
    unsigned long long t;
    Position pos,vel;
};

#endif