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(); } }
NK_tuner.hpp@6:87fd489a9801, 2021-10-21 (annotated)
- Committer:
- hamohamo
- Date:
- Thu Oct 21 16:16:01 2021 +0000
- Revision:
- 6:87fd489a9801
lkn
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
hamohamo | 6:87fd489a9801 | 1 | #ifndef tuner |
hamohamo | 6:87fd489a9801 | 2 | #define tuner |
hamohamo | 6:87fd489a9801 | 3 | |
hamohamo | 6:87fd489a9801 | 4 | #ifndef M_PI |
hamohamo | 6:87fd489a9801 | 5 | #define M_PI 3.14159265358979 |
hamohamo | 6:87fd489a9801 | 6 | #endif |
hamohamo | 6:87fd489a9801 | 7 | |
hamohamo | 6:87fd489a9801 | 8 | class Nk_tuner{ |
hamohamo | 6:87fd489a9801 | 9 | public: |
hamohamo | 6:87fd489a9801 | 10 | Nk_tuner(double dt,double finish); |
hamohamo | 6:87fd489a9801 | 11 | ~Nk_tuner(); |
hamohamo | 6:87fd489a9801 | 12 | void Update(double Value); |
hamohamo | 6:87fd489a9801 | 13 | double getK(double Value); |
hamohamo | 6:87fd489a9801 | 14 | double L,K,T; |
hamohamo | 6:87fd489a9801 | 15 | private: |
hamohamo | 6:87fd489a9801 | 16 | double Kp; |
hamohamo | 6:87fd489a9801 | 17 | double Ki; |
hamohamo | 6:87fd489a9801 | 18 | double Kd; |
hamohamo | 6:87fd489a9801 | 19 | double dt; |
hamohamo | 6:87fd489a9801 | 20 | double finish; |
hamohamo | 6:87fd489a9801 | 21 | long long n; |
hamohamo | 6:87fd489a9801 | 22 | }; |
hamohamo | 6:87fd489a9801 | 23 | |
hamohamo | 6:87fd489a9801 | 24 | #endif |