Ryu Anzawa
wheel_test3
Dependencies: wheel_an R1370 Controller ikarashiMDC
Revision 0:46c70e5b719d, committed 2019-05-16
- Comitter:
- piroro4560
- Date:
- Thu May 16 07:41:44 2019 +0000
- Commit message:
- wheeltest3;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Controller.lib Thu May 16 07:41:44 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/Controller/#875532e626ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/R1370.lib Thu May 16 07:41:44 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tknara/code/R1370/#96f91d9e3bff
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC.lib Thu May 16 07:41:44 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC/#ea34af94e90c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu May 16 07:41:44 2019 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h" //wheel_test3
+#include "controller.h"
+#include "ikarashiMDC.h"
+#include "R1370.h"
+#include "wheel_an.h"
+#define PI 3.141593
+
+Controller pad(PC_10, PC_11, 208);
+R1370 R1370(D10,D2);
+Serial pc(USBTX, USBRX, 115200);
+Serial serial(PC_6, PC_7, 115200);
+DigitalOut serialcontrol(PD_2);
+
+ikarashiMDC ikarashi[]
+{
+ ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,2,SM,&serial)
+};
+
+Wheelan wheel[]
+{
+ Wheelan(PI * 1 / 6),
+ Wheelan(PI * 5 / 6),
+ Wheelan(PI * 9 / 6)
+};
+
+int main()
+{
+ ikarashi[0].braking = true;
+ int b[11];
+ double rad[2],dis[2];
+ double value[3];
+ while(1){
+ if(pad.receiveState()){
+ for(int i = 0; i < 13; i++){
+ b[i] = pad.getButton1(i);
+ }
+ for(int i = 0; i < 2; i++){
+ rad[i] = pad.getRadian(i);
+ dis[i] = pad.getNorm(i);
+ rad[i] = PI - rad[i];
+ }
+ R1370.update();
+ pc.printf("degree : %.3lf ", R1370.getAngle());
+
+ for (int i = 0; i < 3; ++i)
+ {
+ value[i] = wheel[i].an_uc(rad[1], dis[1]);
+ }
+
+ if(b[7] == 1 && b[9] == 0) {
+ value[0] -= 0.3;
+ value[1] -= 0.3;
+ value[2] -= 0.3;
+ } else if (b[9] == 1 && b[7] == 0) {
+ value[0] += 0.3;
+ value[1] += 0.3;
+ value[2] += 0.3;
+ }
+
+ for (int i = 0; i < 3; ++i)
+ {
+ pc.printf("%lf ", value[i]);
+ ikarashi[i].setSpeed(value[i]);
+ }
+ pc.printf("\n\r");
+
+ }else{
+ pc.printf("error\n\r");
+ for (int i = 0; i < 3; i++)
+ {
+ ikarashi[i].setSpeed(0);
+ }
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Thu May 16 07:41:44 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wheel_an.lib Thu May 16 07:41:44 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/piroro4560/code/wheel_an/#fa804ec40e88