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.hpp
- Committer:
- hamohamo
- Date:
- 2021-09-21
- Revision:
- 1:59244694c2bb
- Parent:
- 0:0a9ce35078a3
File content as of revision 1:59244694c2bb:
#ifndef take_encoder #define take_encoder #include "mbed.h" #ifndef M_PI #define M_PI 3.14159265358979 #endif /*INFO *coreを使わない場合idは何でもいいです *タイヤの角度~角加加速度まで一応計測できます *単位はrad~rad/s³ */ class Encoder{ public: Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id); ~Encoder(); void Update(double dt); double get_Theta(); double get_Omega(); double get_Alpha(); double get_Jerk(); double get_ID(); long long int pulse; private: InterruptIn *pin_A; InterruptIn *pin_B; double theta[2]; double omega[2]; double alpha[2]; double jerk; int resolution; int mode; void init(); void riseA(void); void riseB(void); void fallA(void); void fallB(void); int ID; }; #endif