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();
}
}

Diff: encoder.hpp

Revision:
0:0a9ce35078a3
Child:
1:59244694c2bb
diff -r 000000000000 -r 0a9ce35078a3 encoder.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoder.hpp	Tue Sep 21 06:16:58 2021 +0000
@@ -0,0 +1,40 @@
+#ifndef take_encoder
+#define take_encoder
+
+#include "mbed.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+class Encoder{
+public:
+    Encoder(PinName pinA,PinName pinB,int resolution,int mode,int id);
+    ~Encoder();
+    void Update(double dt);
+    double get_Theta();
+    double get_Omega();
+    double get_Alpha();
+    double get_Jerk();
+    double get_ID();
+    long long int pulse;
+private:
+    InterruptIn *pin_A;
+    InterruptIn *pin_B;
+    double theta[2];
+    double omega[2];
+    double alpha[2];
+    double jerk;
+    
+    int resolution;
+    int mode;
+    
+    void init();
+    void riseA(void);
+    void riseB(void);
+    void fallA(void);
+    void fallB(void);
+    int ID;
+};
+
+#endif