広田 勇斗 / Mbed 2 deprecated BETA_A

BETA_A

Dependencies:   DataPool MD_PID mbed

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 
00003 #include "2017_3_h.h"
00004 
00005 #include "BetaTransporter.h"
00006 #include "DataPool.h"
00007 
00008 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);
00009 Serial pc(USBTX, USBRX);
00010 
00011 int main() {
00012     DataPool *beta;
00013 
00014     beta = new BetaTransporter;
00015 
00016     Omni.Drive(0, 0, 0);
00017     float x, y, t;
00018     while(1) {
00019         beta->set();
00020         x = beta->read(0) / 128.00;
00021         y = beta->read(1) / 128.00;
00022         t = beta->read(2) / 128.00;
00023         Omni.Drive(x, y, t);
00024         wait(0.1);
00025     }
00026 }
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