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();
}
}

pid.hpp@0:0a9ce35078a3, 2021-09-21 (annotated)

Committer:
hamohamo
Date:
Tue Sep 21 06:16:58 2021 +0000
Revision:
0:0a9ce35078a3
Child:
1:59244694c2bb
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hamohamo 0:0a9ce35078a3 1 #ifndef take_PID
hamohamo 0:0a9ce35078a3 2 #define take_PID
hamohamo 0:0a9ce35078a3 3
hamohamo 0:0a9ce35078a3 4 #ifndef M_PI
hamohamo 0:0a9ce35078a3 5 #define M_PI 3.14159265358979
hamohamo 0:0a9ce35078a3 6 #endif
hamohamo 0:0a9ce35078a3 7
hamohamo 0:0a9ce35078a3 8 class PID{
hamohamo 0:0a9ce35078a3 9 public:
hamohamo 0:0a9ce35078a3 10 PID(double kp,double ki,double kd,int id);
hamohamo 0:0a9ce35078a3 11 ~PID();
hamohamo 0:0a9ce35078a3 12 void setLimit(double max_p,double max_m);
hamohamo 0:0a9ce35078a3 13 void Update(double Value,double Target,double dt);
hamohamo 0:0a9ce35078a3 14 double getGain();
hamohamo 0:0a9ce35078a3 15 double gain;
hamohamo 0:0a9ce35078a3 16 double value;
hamohamo 0:0a9ce35078a3 17 double target;
hamohamo 0:0a9ce35078a3 18 double err[2];
hamohamo 0:0a9ce35078a3 19 private:
hamohamo 0:0a9ce35078a3 20 double Max_P;
hamohamo 0:0a9ce35078a3 21 double Max_M;
hamohamo 0:0a9ce35078a3 22 double Kp;
hamohamo 0:0a9ce35078a3 23 double Ki;
hamohamo 0:0a9ce35078a3 24 double Kd;
hamohamo 0:0a9ce35078a3 25 double P;
hamohamo 0:0a9ce35078a3 26 double I;
hamohamo 0:0a9ce35078a3 27 double D;
hamohamo 0:0a9ce35078a3 28 double integral;
hamohamo 0:0a9ce35078a3 29 int ID;
hamohamo 0:0a9ce35078a3 30 };
hamohamo 0:0a9ce35078a3 31
hamohamo 0:0a9ce35078a3 32 #endif