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(); } }
motor.cpp
- Committer:
- hamohamo
- Date:
- 2021-09-21
- Revision:
- 0:0a9ce35078a3
- Child:
- 2:d88ff6dda390
File content as of revision 0:0a9ce35078a3:
#include "motor.hpp" Motor::Motor(PinName plus,PinName minus,int period,int id):ID(id){ Plus = new PwmOut(plus); Minus = new PwmOut(minus); Plus->period_us(period); Minus->period_us(period); } Motor::~Motor(){} void Motor::setLimit(double max,double min){ Max = max; Min = min; } void Motor::setPwm(double pwm){ if(pwm >= Max) Pwm=Max; else if(pwm<=Min) Pwm=Min; else Pwm=pwm; if(Pwm<0.0){ *Plus=0.0; *Minus=Pwm*-1; } else{ *Minus=0.0; *Plus=Pwm; } } double Motor::get_ID() {return ID;}