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(); } }
encoder.cpp
- Committer:
- hamohamo
- Date:
- 2021-09-21
- Revision:
- 0:0a9ce35078a3
- Child:
- 9:489046c1e624
File content as of revision 0:0a9ce35078a3:
#include "encoder.hpp" Encoder::Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id):resolution(resolution),mode(mode),ID(id){ pin_A = new InterruptIn(pinA,PullUp); pin_B = new InterruptIn(pinB,PullUp); init(); } Encoder::~Encoder(){ pin_B->disable_irq(); pin_B->disable_irq(); delete pin_A; delete pin_B; } void Encoder::Update(double dt){ theta[1] = 2.0*M_PI * pulse / resolution / mode; omega[1] = (theta[1]-theta[0])/dt; alpha[1] = (omega[1]-omega[0])/dt; jerk = (alpha[1]-alpha[0])/dt; theta[0] = theta[1]; omega[0] = omega[1]; alpha[0] = alpha[1]; } double Encoder::get_Theta() {return theta[1];} double Encoder::get_Omega() {return omega[1];} double Encoder::get_Alpha() {return alpha[1];} double Encoder::get_Jerk() {return jerk;} double Encoder::get_ID() {return ID;} void Encoder::init(){ pulse = 0; if(mode <= 0 or 4 < mode) mode = 4; if(1 <= mode) pin_A->rise(callback(this,&Encoder::riseA)); if(2 <= mode) pin_A->fall(callback(this,&Encoder::fallA)); if(3 <= mode) pin_B->rise(callback(this,&Encoder::riseB)); if(4 <= mode) pin_B->fall(callback(this,&Encoder::fallB)); } void Encoder::riseA(void){pin_B->read() ? pulse-- : pulse++;} void Encoder::riseB(void){pin_A->read() ? pulse++ : pulse--;} void Encoder::fallA(void){pin_B->read() ? pulse++ : pulse--;} void Encoder::fallB(void){pin_A->read() ? pulse-- : pulse++;}