広田 勇斗 / Mbed 2 deprecated Omni_2017_z

Omni_2017_z

Dependencies:   MD_PID mbed

main.cpp@4:1326902ac7cd, 2017-08-05 (annotated)

Committer:
hirotayamato
Date:
Sat Aug 05 07:26:38 2017 +0000
Revision:
4:1326902ac7cd
Parent:
3:49450eb53b6f 
Omni_2017_b

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hirotayamato 3:49450eb53b6f 1 #include "2017_3_b.h"
hirotayamato 0:fd933ea5f19d 2 #include "mbed.h"
hirotayamato 0:fd933ea5f19d 3 #include <math.h>
hirotayamato 0:fd933ea5f19d 4 #include "MD_PID.h"
hirotayamato 0:fd933ea5f19d 5 #include "QEI.h"
hirotayamato 0:fd933ea5f19d 6
hirotayamato 4:1326902ac7cd 7 Omni_3 Omni(p21, p18, p11, p12, p22, p17, p27, p28, p23, p16, p29, p30, 1);
hirotayamato 0:fd933ea5f19d 8
hirotayamato 0:fd933ea5f19d 9 Serial pc (USBTX, USBRX);
hirotayamato 0:fd933ea5f19d 10 I2CSlave slave(p9, p10);
hirotayamato 0:fd933ea5f19d 11
hirotayamato 0:fd933ea5f19d 12 DigitalOut check1(LED1);
hirotayamato 0:fd933ea5f19d 13
hirotayamato 0:fd933ea5f19d 14 union Get_data{
hirotayamato 0:fd933ea5f19d 15 char alldata[3];
hirotayamato 0:fd933ea5f19d 16 struct{
hirotayamato 0:fd933ea5f19d 17 signed int x :8;
hirotayamato 0:fd933ea5f19d 18 signed int y :8;
hirotayamato 0:fd933ea5f19d 19 signed int t :8;
hirotayamato 0:fd933ea5f19d 20 }data;
hirotayamato 0:fd933ea5f19d 21 }act;
hirotayamato 0:fd933ea5f19d 22
hirotayamato 0:fd933ea5f19d 23 int main() {
hirotayamato 0:fd933ea5f19d 24 Omni.Drive(0, 0, 0);
hirotayamato 0:fd933ea5f19d 25 float x, y, st;
hirotayamato 0:fd933ea5f19d 26
hirotayamato 0:fd933ea5f19d 27 slave.address(0x08);
hirotayamato 0:fd933ea5f19d 28 while(1) {
hirotayamato 0:fd933ea5f19d 29 int i = slave.receive();
hirotayamato 0:fd933ea5f19d 30 check1 = 0.0;
hirotayamato 0:fd933ea5f19d 31 switch (i) {
hirotayamato 0:fd933ea5f19d 32 case I2CSlave::ReadAddressed:
hirotayamato 0:fd933ea5f19d 33 check1 = check1 ^ 1;
hirotayamato 0:fd933ea5f19d 34 break;
hirotayamato 0:fd933ea5f19d 35 case I2CSlave::WriteGeneral:
hirotayamato 0:fd933ea5f19d 36 slave.read(act.alldata, 3);
hirotayamato 0:fd933ea5f19d 37 check1 = check1 ^ 1;
hirotayamato 0:fd933ea5f19d 38 break;
hirotayamato 0:fd933ea5f19d 39 case I2CSlave::WriteAddressed:
hirotayamato 0:fd933ea5f19d 40 slave.read(act.alldata, 3);
hirotayamato 0:fd933ea5f19d 41 check1 = check1 ^ 1;
hirotayamato 0:fd933ea5f19d 42 x = (float)act.data.x / 127.0;
hirotayamato 0:fd933ea5f19d 43 y = (float)act.data.y / 127.0;
hirotayamato 0:fd933ea5f19d 44 st = (float)act.data.t / 127.0 * 0.1;
hirotayamato 0:fd933ea5f19d 45 break;
hirotayamato 0:fd933ea5f19d 46 }
hirotayamato 0:fd933ea5f19d 47 Omni.Drive(x, y, st);
hirotayamato 0:fd933ea5f19d 48
hirotayamato 0:fd933ea5f19d 49 for(int i = 0; i < 3; i++) act.alldata[i] = 0;
hirotayamato 0:fd933ea5f19d 50
hirotayamato 0:fd933ea5f19d 51 }
hirotayamato 0:fd933ea5f19d 52 }
hirotayamato 3:49450eb53b6f 53
hirotayamato 4:1326902ac7cd 54