Diff: main.cpp

Revision:

0:2b80f11eb1d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 11 07:05:25 2017 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h> 
+#include "StewartPlatform.h"
+DigitalOut myled(LED1);
+Serial pc(SERIAL_TX, SERIAL_RX);
+StewartPlatformType Platform;                                           //动感平台数据结构体 
+
+int main() 
+{
+    while(1) 
+    {
+        myled = 1; // LED is ON
+        wait(0.2); // 200 ms
+        myled = 0; // LED is OFF
+        wait(1.0); // 1 sec
+        
+        
+        Platform.topRadius = 244.95;                                            //平台参数初始化 
+        Platform.topInterval = 100;
+        Platform.bottomRadius = 332.54;
+        Platform.bottomInterval = 340;
+        Platform.lengthOfSteelWheel = 150;
+        Platform.lengthOfCardan = 150;
+        Platform.lengthOfBar = 368;
+        Platform.x = 25;                                                        //设定上平台姿态 
+        Platform.y = 31;
+        Platform.z = 278;
+        Platform.a = 15;
+        Platform.b = 12;
+        Platform.c = 22;
+        CalStewartPlatform(&Platform);                                          //解析平台数据 
+        pc.printf("Angle: %.2f %.2f %.2f %.2f %.2f %.2f \r\n", Platform.theta[0], Platform.theta[1], Platform.theta[2], Platform.theta[3], Platform.theta[4], Platform.theta[5]);
+        pc.printf("Servo Angle: %.2f %.2f %.2f %.2f %.2f %.2f \r\n", Platform.theta_servo[0], Platform.theta_servo[1], Platform.theta_servo[2], Platform.theta_servo[3], Platform.theta_servo[4], Platform.theta_servo[5]);
+        pc.printf("BarLength: %.2f %.2f %.2f %.2f %.2f %.2f \r\n", Platform.BarLength[0], Platform.BarLength[1], Platform.BarLength[2], Platform.BarLength[3], Platform.BarLength[4], Platform.BarLength[5]);
+    }
+}