File content as of revision 1:fa8227369eb0:

#include "2017_3_z.h"
#include "mbed.h"
#include <math.h>

Omni_3::Omni_3(PinName pin_pwm_F1, PinName pin_pwm_F2, PinName pin_dere_F1, PinName pin_dere_F2, PinName pin_channelA_F, PinName pin_channelB_F,
               PinName pin_pwm_L1, PinName pin_pwm_L2, PinName pin_dere_L1, PinName pin_dere_L2, PinName pin_channelA_L, PinName pin_channelB_L,
               PinName pin_pwm_R1, PinName pin_pwm_R2, PinName pin_dere_R1, PinName pin_dere_R2, PinName pin_channelA_R, PinName pin_channelB_R,
               int arg_rev)
{
    md_f1 = Create_MD_PID(pin_channelA_F, pin_channelB_F, NC, 500, QEI::X4_ENCODING, 
                         0.095 * 2, 0, 0.002 * 4, 500, 
                         pin_pwm_F1, pin_dere_F1);
                         
    md_f2 = Create_MD_PID(pin_channelA_F, pin_channelB_F, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_F2, pin_dere_F2);
    
    md_l1 = Create_MD_PID(pin_channelA_L, pin_channelB_L, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_L1, pin_dere_L1);
    
    md_l2 = Create_MD_PID(pin_channelA_L, pin_channelB_L, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_L2, pin_dere_L2);
    
    md_r1 = Create_MD_PID(pin_channelA_R, pin_channelB_R, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_R1, pin_dere_R1);
    					 
    md_r2 = Create_MD_PID(pin_channelA_R, pin_channelB_R, NC, 500, QEI::X4_ENCODING,
    					 0.095 * 2, 0, 0.002 * 4, 500,
    					 pin_pwm_R2, pin_dere_R2);
    
    rev = arg_rev;
}

void Omni_3::Drive( double arg_x, double arg_y, double arg_rota,
					double F_Gain, double L_Gain, double R_Gain)
{
    double dere, sp;
    double duty[3];
    double speed[3];
    
    dere = atan2(arg_y, arg_x);
    sp = sqrt(pow(arg_x, 2.0) + pow(arg_y, 2.0));
    
    speed[0] = cos(dere) * sp;   // vx
    speed[1] = sin(dere) * sp;   // vy
    speed[2] = arg_rota;                // omega
    
    Matrix(speed, duty);
    for(int i = 0; i < 3; i++){
        if(fabs(duty[i]) > 1.0){
            int inv = fabs(duty[i]);
            for(int j = 0; j < 3; j++){
                duty[j] *= 1.0 / (double)inv;
            }
        }
    }
    md_f1->Drive(duty[0] * F_Gain, 100);
    md_f2->Drive(duty[0] * F_Gain, 100);
    md_l1->Drive(duty[1] * L_Gain, 100);
    md_l2->Drive(duty[1] * L_Gain, 100);
    md_r1->Drive(duty[2] * R_Gain, 100);
    md_r2->Drive(duty[2] * R_Gain, 100);
}

void Omni_3::Matrix(double speed[3], double duty[3])
{
    double keisu[3][3];
    keisu[0][0] = -1.0;
    keisu[0][1] = 0.0;
    keisu[0][2] = 1.0;
    keisu[1][0] = 1.0 / 2.0;
    keisu[1][1] = -sqrt(3.0) / 2.0;
    keisu[1][2] = 1.0;
    keisu[2][0] = 1.0 / 2.0;
    keisu[2][1] = sqrt(3.0) / 2.0;
    keisu[2][2] = 1.0;
    
    for(int i = 0; i < 3; i++){
        duty[i] = 0.0;
        for(int j = 0; j < 3; j++){
            duty[i] += keisu[i][j] * speed[j] * rev;
        }
    }
}