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StewartOlatform
main.cpp
- Committer:
- heroistired
- Date:
- 2017-10-11
- Revision:
- 0:2b80f11eb1d3
File content as of revision 0:2b80f11eb1d3:
#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]); } }