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(); } }
Revisions of core.cpp
Revision | Date | Message | Actions |
---|---|---|---|
7:c0b6afbccd97 | 2021-10-22 | asd | File Diff Annotate |
6:87fd489a9801 | 2021-10-21 | lkn | File Diff Annotate |
5:8dec5e011b3c | 2021-10-18 | hkh; | File Diff Annotate |
4:2425cd08e0c2 | 2021-10-13 | sad | File Diff Annotate |
3:3f42230ca4ec | 2021-10-13 | pe | File Diff Annotate |
2:d88ff6dda390 | 2021-10-13 | pepepe; | File Diff Annotate |
0:0a9ce35078a3 | 2021-09-21 | first commit | File Diff Annotate |