nakashima Kohei
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();
}
}
History
asd
2021-10-29, by hamohamo [Fri, 29 Oct 2021 09:20:31 +0000] rev 11
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2021-10-28, by hamohamo [Thu, 28 Oct 2021 10:58:56 +0000] rev 10
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ads
2021-10-26, by hamohamo [Tue, 26 Oct 2021 15:55:15 +0000] rev 9
ads
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2021-10-22, by hamohamo [Fri, 22 Oct 2021 09:41:23 +0000] rev 8
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2021-10-22, by hamohamo [Fri, 22 Oct 2021 07:44:53 +0000] rev 7
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lkn
2021-10-21, by hamohamo [Thu, 21 Oct 2021 16:16:01 +0000] rev 6
lkn
hkh;
2021-10-18, by hamohamo [Mon, 18 Oct 2021 08:15:39 +0000] rev 5
hkh;
sad
2021-10-13, by hamohamo [Wed, 13 Oct 2021 10:00:55 +0000] rev 4
sad
pe
2021-10-13, by hamohamo [Wed, 13 Oct 2021 08:47:03 +0000] rev 3
pe
pepepe;
2021-10-13, by hamohamo [Wed, 13 Oct 2021 08:12:34 +0000] rev 2
pepepe;