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(); } }
robot.hpp
- Committer:
- hamohamo
- Date:
- 2021-09-21
- Revision:
- 0:0a9ce35078a3
File content as of revision 0:0a9ce35078a3:
#ifndef take_robot #define take_robot class Robot{ public: Robot(double corner_wheel_radius,double side_wheel_radius,double c2corner_distance,double c2side_distance):CWR(corner_wheel_radius),SWR(side_wheel_radius),C2CD(c2corner_distance),C2SD(c2side_distance) {}; void setCWID(int right_front,int right_back,int left_back,int left_front){ RF = right_front; RB = right_back; LB = left_back; LF = left_front; } void setSWID(int front,int right,int back,int left){ F = front; R = right; B = back; L = left; } double CWR,SWR,C2CD,C2SD; int RF,LF,RB,LB; int F,R,B,L; private: }; #endif