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();
}
}

motor.cpp

Committer:
hamohamo
Date:
2021-10-29
Revision:
11:80800fd9f4af
Parent:
2:d88ff6dda390

File content as of revision 11:80800fd9f4af:

#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;}