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(); } }
pid.cpp
- Committer:
- hamohamo
- Date:
- 2021-10-18
- Revision:
- 5:8dec5e011b3c
- Parent:
- 2:d88ff6dda390
- Child:
- 6:87fd489a9801
File content as of revision 5:8dec5e011b3c:
#include "pid.hpp" #include "mbed.h" PID::PID(double kp,double ki,double kd,int id):Kp(kp),Ki(ki),Kd(kd),ID(id){ err[0]=0.0; mv = 0.0; integral = 0.0; } void PID::Update(double Value,double Target,double dt){ e[2]=Target-Value; P=(e[2]-e[1])/dt; I= e[2]; D=(e[2]- 2*e[1] + e[0)/dt/dt; e[0] = e[1]; e[1] = e[2]; mv += ((Kp*P)+(Ki*I)+(Kd*D))*dt; if(mv<Min) mv = Min; if(mv>Max) mv = Max; } double PID::getmv(){ double rtn; if(mv<Min)rtn=Min; else rtn=mv; if(mv>Max)rtn=Max; else rtn=mv; return rtn; } void PID::setLimit(double max,double min){ Max = max; Min = min; } PID::~PID(){}