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(); } }
Diff: core.hpp
- Revision:
- 0:0a9ce35078a3
- Child:
- 1:59244694c2bb
diff -r 000000000000 -r 0a9ce35078a3 core.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/core.hpp Tue Sep 21 06:16:58 2021 +0000 @@ -0,0 +1,40 @@ +#ifndef take_core +#define take_core + +#include <vector> +#include "mbed.h" +#include "motor.hpp" +#include "encoder.hpp" +#include "pid.hpp" +#include "robot.hpp" +#include "position.hpp" + +#define OMNI4 1 +#define OMNI3 2 +#define MECANUM 3 + +class Core{ +public: + Core(Robot* robot,int mode,double dt); + void addMOT(PinName plus,PinName minus,int period,int id); + void addENC(PinName plus,PinName minus,int resolution,int mode,int id); + void addPID(double Kp,double Ki,double Kd,int id); + void setLIM(double MOT_max,double MOT_min,double PID_max,double PID_min); + void START(); + bool LOOP(); + void WAIT(double wt); + void setVelocity(double Vx,double Vy,double Vw); + Position getStatus(); + Timer timer; + Robot* rbt; + std::vector<Motor*> Mots; + std::vector<Encoder*> Encs; + std::vector<PID*> PIDs; +private: + int mode; + double dt; + unsigned long long t; + Position pos,vel; +}; + +#endif \ No newline at end of file