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: imc.cpp
- Revision:
- 10:f434b6848059
- Child:
- 11:80800fd9f4af
diff -r 489046c1e624 -r f434b6848059 imc.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/imc.cpp Thu Oct 28 10:58:56 2021 +0000 @@ -0,0 +1,26 @@ +#include "imc.hpp" +#include "mbed.h" +IMC::IMC(double K,double T,int id):K(K),T(T),ID(id){ + x = 0.0; + mv = 0.0; +} +double IMC::simulate(double x,double u,double dt){ + this->x = x + (-x + K*u)/T*dt; + return this->x; +} +void IMC::Update(double Value,double Target,double dt){ + mv = (Target - Value + simulate(x,mv,dt))*(1.0/K); + if(mv<Min) mv = Min; + if(mv>Max) mv = Max; +} +double IMC::getmv(){ + return mv; +} +double IMC::getx(){ + return x; + } +void IMC::setLimit(double max,double min){ + Max = max; + Min = min; +} +IMC::~IMC(){}