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.hpp

Revision:
6:87fd489a9801
diff -r 8dec5e011b3c -r 87fd489a9801 NK_tuner.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/NK_tuner.hpp	Thu Oct 21 16:16:01 2021 +0000
@@ -0,0 +1,24 @@
+#ifndef tuner
+#define tuner
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+class Nk_tuner{
+public:
+  Nk_tuner(double dt,double finish);
+  ~Nk_tuner();
+  void Update(double Value);
+  double getK(double Value);
+  double L,K,T;
+private:
+  double Kp;
+  double Ki;
+  double Kd;
+  double dt;
+  double finish;
+  long long n;
+};
+
+#endif