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: pid.cpp
- Revision:
- 11:80800fd9f4af
- Parent:
- 6:87fd489a9801
diff -r f434b6848059 -r 80800fd9f4af pid.cpp --- a/pid.cpp Thu Oct 28 10:58:56 2021 +0000 +++ b/pid.cpp Fri Oct 29 09:20:31 2021 +0000 @@ -22,6 +22,7 @@ if(addmv) mv += ((Kp*P)+(Ki*I)+(Kd*D)); else mv = ((Kp*P)+(Ki*I)+(Kd*D)); e[1] = e[2]; + if(Target == 0.0) mv = 0.0; if(mv<Min) mv = Min; if(mv>Max) mv = Max; if(integral<Min) integral = Min;