tianyun ma / Mbed 2 deprecated mecanum_4

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Dependencies:   mbed

mecanum_4.cpp@0:b7d3adaffc0a, 2018-05-07 (annotated)

Committer:
himarsmty
Date:
Mon May 07 06:57:22 2018 +0000
Revision:
0:b7d3adaffc0a
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
himarsmty 0:b7d3adaffc0a 1 #include "mecanum_4.h"
himarsmty 0:b7d3adaffc0a 2
himarsmty 0:b7d3adaffc0a 3 //four motors
himarsmty 0:b7d3adaffc0a 4 Motor_3 front_left(PB_3,PB_4,PB_1);
himarsmty 0:b7d3adaffc0a 5 Motor_3 front_right(PA_12,PA_15,PB_0);
himarsmty 0:b7d3adaffc0a 6 Motor_3 back_left(PB_13,PB_12,PA_6);
himarsmty 0:b7d3adaffc0a 7 Motor_3 back_right(PB_15,PB_14,PA_7);
himarsmty 0:b7d3adaffc0a 8
himarsmty 0:b7d3adaffc0a 9 void mecanum_4::mv_x(float speed)
himarsmty 0:b7d3adaffc0a 10 {
himarsmty 0:b7d3adaffc0a 11 front_left.mv(speed); front_right.mv(speed);
himarsmty 0:b7d3adaffc0a 12 back_left.mv(speed); back_right.mv(speed);
himarsmty 0:b7d3adaffc0a 13 }
himarsmty 0:b7d3adaffc0a 14 void mecanum_4::mv_y(float speed)
himarsmty 0:b7d3adaffc0a 15 {
himarsmty 0:b7d3adaffc0a 16 float speed1=-speed;
himarsmty 0:b7d3adaffc0a 17 front_left.mv(speed1); front_right.mv(speed);
himarsmty 0:b7d3adaffc0a 18 back_left.mv(speed); back_right.mv(speed1);
himarsmty 0:b7d3adaffc0a 19 }
himarsmty 0:b7d3adaffc0a 20 void mecanum_4::rotate(float speed)
himarsmty 0:b7d3adaffc0a 21 {
himarsmty 0:b7d3adaffc0a 22 float speed1=-speed;
himarsmty 0:b7d3adaffc0a 23 front_left.mv(speed1); front_right.mv(speed);
himarsmty 0:b7d3adaffc0a 24 back_left.mv(speed1); back_right.mv(speed);
himarsmty 0:b7d3adaffc0a 25 }
himarsmty 0:b7d3adaffc0a 26 void mecanum_4::r_ob(float speed)
himarsmty 0:b7d3adaffc0a 27 {
himarsmty 0:b7d3adaffc0a 28 front_left.mv(speed); front_right.mv(0);
himarsmty 0:b7d3adaffc0a 29 back_left.mv(0); back_right.mv(speed);
himarsmty 0:b7d3adaffc0a 30 }
himarsmty 0:b7d3adaffc0a 31 void mecanum_4::i_ob(float speed)
himarsmty 0:b7d3adaffc0a 32 {
himarsmty 0:b7d3adaffc0a 33 front_left.mv(0); front_right.mv(speed);
himarsmty 0:b7d3adaffc0a 34 back_left.mv(speed); back_right.mv(0);
himarsmty 0:b7d3adaffc0a 35 }
himarsmty 0:b7d3adaffc0a 36 void mecanum_4::any_degree(float degree,float time)
himarsmty 0:b7d3adaffc0a 37 {
himarsmty 0:b7d3adaffc0a 38 if(degree>=0&&degree<=90)
himarsmty 0:b7d3adaffc0a 39 {
himarsmty 0:b7d3adaffc0a 40 float degree1=(-degree)/90*200+100;
himarsmty 0:b7d3adaffc0a 41 front_left.mv(100); front_right.mv(degree1);
himarsmty 0:b7d3adaffc0a 42 back_left.mv(degree1); back_right.mv(100);
himarsmty 0:b7d3adaffc0a 43 }
himarsmty 0:b7d3adaffc0a 44 else if(degree>=90&&degree<=180)
himarsmty 0:b7d3adaffc0a 45 {
himarsmty 0:b7d3adaffc0a 46 float degree1=(-degree)/90*200+300;
himarsmty 0:b7d3adaffc0a 47 front_left.mv(degree1); front_right.mv(-100);
himarsmty 0:b7d3adaffc0a 48 back_left.mv(-100); back_right.mv(degree1);
himarsmty 0:b7d3adaffc0a 49 }
himarsmty 0:b7d3adaffc0a 50 else if(degree>=180&&degree<=270)
himarsmty 0:b7d3adaffc0a 51 {
himarsmty 0:b7d3adaffc0a 52 float degree1=degree/90*200-500;
himarsmty 0:b7d3adaffc0a 53 front_left.mv(-100); front_right.mv(degree1);
himarsmty 0:b7d3adaffc0a 54 back_left.mv(degree1); back_right.mv(-100);
himarsmty 0:b7d3adaffc0a 55 }
himarsmty 0:b7d3adaffc0a 56 else if(degree>=270&&degree<=360)
himarsmty 0:b7d3adaffc0a 57 {
himarsmty 0:b7d3adaffc0a 58 float degree1=degree/90*200-700;
himarsmty 0:b7d3adaffc0a 59 front_left.mv(degree1); front_right.mv(100);
himarsmty 0:b7d3adaffc0a 60 back_left.mv(100); back_right.mv(degree1);
himarsmty 0:b7d3adaffc0a 61 }
himarsmty 0:b7d3adaffc0a 62 wait(time);
himarsmty 0:b7d3adaffc0a 63 front_left.stop();
himarsmty 0:b7d3adaffc0a 64 front_right.stop();
himarsmty 0:b7d3adaffc0a 65 back_left.stop();
himarsmty 0:b7d3adaffc0a 66 back_right.stop();
himarsmty 0:b7d3adaffc0a 67 }