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();
}
}

imc.cpp

Committer:
hamohamo
Date:
2021-10-29
Revision:
11:80800fd9f4af
Parent:
10:f434b6848059

File content as of revision 11:80800fd9f4af:

#include "imc.hpp"
#include "mbed.h"
IMC::IMC(double K,double T,int id):K(K),T(T),ID(id){
    x = 0.0;
    mv = 0.0;
}
double IMC::simulate(double x,double u,double dt){
    this->x = x + (-x + K*u)/T*dt;
    return this->x;
}
void IMC::Update(double Value,double Target,double dt){
    mv = (Target - Value + simulate(x,mv,dt))*(1.0/K);
    
    if(Target == 0.0) mv = 0.0;
    if(mv<Min) mv = Min;
    if(mv>Max) mv = Max;
}
double IMC::getmv(){
    return mv;
}
double IMC::getx(){
    return x;
    }
void IMC::setLimit(double max,double min){
  Max = max;
  Min = min;
}
IMC::~IMC(){}