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.cpp
- Revision:
- 11:80800fd9f4af
- Parent:
- 10:f434b6848059
diff -r f434b6848059 -r 80800fd9f4af core.cpp --- a/core.cpp Thu Oct 28 10:58:56 2021 +0000 +++ b/core.cpp Fri Oct 29 09:20:31 2021 +0000 @@ -1,6 +1,6 @@ #include "core.hpp" -Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6){ +Core::Core(Robot* robot,int mode,double dt):rbt(robot),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6),IMCs(6){ pos.x = 0.0; pos.y = 0.0; pos.theta = 0.0; @@ -17,6 +17,7 @@ return PIDs.at(id); } IMC* Core::addIMC(double K,double T,int id){ + printf("%d\n",id); IMCs.at(id) = new IMC(K,T,id); return IMCs.at(id); } @@ -127,7 +128,7 @@ vel.theta = vw; return pos; } -Core::Core(Robot* robot,ScrpSlave* scrp,int mode,double dt):rbt(robot),scrp(scrp),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6){} +Core::Core(Robot* robot,ScrpSlave* scrp,int mode,double dt):rbt(robot),scrp(scrp),mode(mode),dt(dt),Mots(5),Encs(9),PIDs(6),IMCs(6){} void Core::sendPWM(double pwm,int id){scrp->send1(255, id ,(pwm * 100.0));} void Core::sendVelocity(double Vx,double Vy,double Vw){ double w1,w2,w3,w4;