nakashima Kohei / take_mbed

足回り動かすためのライブラリ

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```#include "scrp_slave.hpp"

  1. include "core.hpp"
  1. 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.addPID(0.1,0.0,0.0,0); RBT.addPID(0.1,0.0,0.0,1); RBT.addPID(0.1,0.0,0.0,2); RBT.addPID(0.1,0.0,0.0,3);

RBT.setLIM(0.5,-0.5,0.5,-0.5);

RBT.START(); /*--LOOP--*/ Position pos; while(true){ pos = RBT.getStatus(); RBT.setVelocity(0.0,0.0,0.5); printf("x:%lf,y:%lf,theta:%lf\n",pos.x,pos.y,pos.theta); RBT.LOOP(); } }```

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