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();
}
}

encoder.hpp

Committer:
hamohamo
Date:
2021-10-29
Revision:
11:80800fd9f4af
Parent:
1:59244694c2bb

File content as of revision 11:80800fd9f4af:

#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