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: NK_tuner.cpp

Revision:
6:87fd489a9801
diff -r 8dec5e011b3c -r 87fd489a9801 NK_tuner.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/NK_tuner.cpp	Thu Oct 21 16:16:01 2021 +0000
@@ -0,0 +1,31 @@
+#include "NK_tuner.hpp"
+
+Nk_tuner::Nk_tuner(double dt,double finish):dt(dt),finish(finish){}
+Nk_tuner::~Nk_tuner(){}
+double Nk_tuner::getK(double Value){
+    n++;
+    K = (K*(n-1) + Value)/n;
+    return K;
+}
+void Nk_tuner::Update(double Value){
+    static double mt = 0.0,mtt = 0.0,mtv = 0.0;
+    static double old,timer;
+    double tilt;
+    timer += dt;
+    tilt = (Value - old) / dt;
+    if(mt < tilt) {
+        mt = tilt;
+        mtt = timer;
+        mtv = Value;
+    }
+    if(Value <= 0.632*K) T = timer;
+    old = Value;
+    if(timer >= finish){
+        L = mtt-(mtv/mt);
+        T = T - L;
+        old = 0.0;
+        mt = 0.0;
+        mtt = 0.0;
+        mtv = 0.0;
+    }
+}
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