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(); } }
encoder.hpp@11:80800fd9f4af, 2021-10-29 (annotated)
- Committer:
- hamohamo
- Date:
- Fri Oct 29 09:20:31 2021 +0000
- Revision:
- 11:80800fd9f4af
- Parent:
- 1:59244694c2bb
asd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 0:0a9ce35078a3 | 1 | #ifndef take_encoder |
hamohamo | 0:0a9ce35078a3 | 2 | #define take_encoder |
hamohamo | 0:0a9ce35078a3 | 3 | |
hamohamo | 0:0a9ce35078a3 | 4 | #include "mbed.h" |
hamohamo | 0:0a9ce35078a3 | 5 | |
hamohamo | 0:0a9ce35078a3 | 6 | #ifndef M_PI |
hamohamo | 0:0a9ce35078a3 | 7 | #define M_PI 3.14159265358979 |
hamohamo | 0:0a9ce35078a3 | 8 | #endif |
hamohamo | 1:59244694c2bb | 9 | /*INFO |
hamohamo | 1:59244694c2bb | 10 | *coreを使わない場合idは何でもいいです |
hamohamo | 1:59244694c2bb | 11 | *タイヤの角度~角加加速度まで一応計測できます |
hamohamo | 1:59244694c2bb | 12 | *単位はrad~rad/s³ |
hamohamo | 1:59244694c2bb | 13 | */ |
hamohamo | 0:0a9ce35078a3 | 14 | class Encoder{ |
hamohamo | 0:0a9ce35078a3 | 15 | public: |
hamohamo | 0:0a9ce35078a3 | 16 | Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id); |
hamohamo | 0:0a9ce35078a3 | 17 | ~Encoder(); |
hamohamo | 0:0a9ce35078a3 | 18 | void Update(double dt); |
hamohamo | 0:0a9ce35078a3 | 19 | double get_Theta(); |
hamohamo | 0:0a9ce35078a3 | 20 | double get_Omega(); |
hamohamo | 0:0a9ce35078a3 | 21 | double get_Alpha(); |
hamohamo | 0:0a9ce35078a3 | 22 | double get_Jerk(); |
hamohamo | 0:0a9ce35078a3 | 23 | double get_ID(); |
hamohamo | 0:0a9ce35078a3 | 24 | long long int pulse; |
hamohamo | 0:0a9ce35078a3 | 25 | private: |
hamohamo | 0:0a9ce35078a3 | 26 | InterruptIn *pin_A; |
hamohamo | 0:0a9ce35078a3 | 27 | InterruptIn *pin_B; |
hamohamo | 0:0a9ce35078a3 | 28 | double theta[2]; |
hamohamo | 0:0a9ce35078a3 | 29 | double omega[2]; |
hamohamo | 0:0a9ce35078a3 | 30 | double alpha[2]; |
hamohamo | 0:0a9ce35078a3 | 31 | double jerk; |
hamohamo | 0:0a9ce35078a3 | 32 | |
hamohamo | 0:0a9ce35078a3 | 33 | int resolution; |
hamohamo | 0:0a9ce35078a3 | 34 | int mode; |
hamohamo | 0:0a9ce35078a3 | 35 | |
hamohamo | 0:0a9ce35078a3 | 36 | void init(); |
hamohamo | 0:0a9ce35078a3 | 37 | void riseA(void); |
hamohamo | 0:0a9ce35078a3 | 38 | void riseB(void); |
hamohamo | 0:0a9ce35078a3 | 39 | void fallA(void); |
hamohamo | 0:0a9ce35078a3 | 40 | void fallB(void); |
hamohamo | 0:0a9ce35078a3 | 41 | int ID; |
hamohamo | 0:0a9ce35078a3 | 42 | }; |
hamohamo | 0:0a9ce35078a3 | 43 | |
hamohamo | 0:0a9ce35078a3 | 44 | #endif |