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();
}
}

robot.hpp

Committer:
hamohamo
Date:
2021-10-29
Revision:
11:80800fd9f4af
Parent:
0:0a9ce35078a3

File content as of revision 11:80800fd9f4af:

#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