広田 勇斗 / Mbed 2 deprecated 2017_Bteam_beta_master_ashi

2017_Bteam_beta_master_ashi

Dependencies:   Alpha_Movements BoolProcess DataCaller_beta MD_PID mbed

Fork of 2017_Bteam_beta_master by taiyou komazawa

main.cpp

Committer:
hirotayamato
Date:
2017-09-16
Revision:
5:da391f9d2152
Parent:
4:ca415ec776be
Child:
6:26b8a8130839

File content as of revision 5:da391f9d2152:

#include "mbed.h"

#include "DataPool.h"
#include "AlphaTransporter.h"
#include "BoolProcess.h"

#include "2017_3_h.h"

#define SDA PB_7
#define SCL PB_6

I2C *master;
DataPool *beta;

Omni_3 Omni(PB_4, PB_0, PA_12, PA_7, PB_5, PB_1, PA_6, PA_5, PA_11, PF_0, PA_4, PA_3, 1);
Serial pc(USBTX, USBRX);

int main()
{
    master = new I2C(SDA, SCL);
    beta = new AlphaTransporter(master);

    Omni.Drive(0, 0, 0);
    float x, y, t;
    while(1)
    {
        beta->set();
        
        x = beta->read(0) / 128.00 * -1.00;
        y = beta->read(1) / 128.00 * -1.00;
        t = beta->read(2) / 128.00 * -1.00;
        Omni.Drive(x, y, t);
        wait(0.1);
    }
}