File content as of revision 3:4fe8e6e455d0:

#include "mbed.h"           //wheel_test4
#include "controller.h"
#include "ikarashiMDC.h"
#include "R1370.h"
#include "omni_wheel.h"
#include "PID.h"
#define PI 3.141593

PID pid1(5.0,0.001,0.0001,0.01);
OmniWheel omni(4);
Controller pad(PC_10, PC_11, 208);
R1370 R1370(PB_6,PA_10);
Serial pc(USBTX, USBRX, 115200);
Serial serial(PC_6, PC_7, 115200);
DigitalOut serialcontrol(D10);
//DigitalOut reset(PC_9);


ikarashiMDC motor[]=
{
    ikarashiMDC(&serialcontrol,2,0,SM,&serial),
    ikarashiMDC(&serialcontrol,2,1,SM,&serial),
    ikarashiMDC(&serialcontrol,2,2,SM,&serial),
    ikarashiMDC(&serialcontrol,2,3,SM,&serial),
};


int main()
{
//    reset = 1;
    motor[0].braking = true;
    int b[11], b2[11];
    double rad[2], dis[2], value[3], X, Y, original_angle, now_angle, start_angle, spin_power;
    /*
     * original_angle : 
     * now_angle      : 
     * start_angle    : 
     */
    pid1.setInputLimits(-180,180);
    pid1.setOutputLimits(-0.3,0.3);
    pid1.setBias(0);
    pid1.setMode(1);
    pid1.setSetPoint(0);////
    omni.wheel[0].setRadian(PI * 1.0 / 4.0);
    omni.wheel[1].setRadian(PI * 3.0 / 4.0);
    omni.wheel[2].setRadian(PI * 5.0 / 4.0);
    omni.wheel[3].setRadian(PI * 7.0 / 4.0);
    while(1){
        if(pad.receiveState()){
            for(int i = 0; i < 13; i++){
                b[i] = 1 - 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];
            }
            X = dis[0] * cos(rad[0]);
            Y = dis[0] * sin(rad[0]);
            R1370.update();
            /*ここまでテンプル*/
            start_angle = R1370.getAngle();
            /*
            旋回
            */
            /*
            リセット
            */
            if(b[6] == 1){
                original_angle=start_angle;
            }
            now_angle = start_angle - original_angle;
            pid1.setProcessValue(now_angle);
            spin_power = pid1.compute();
            omni.computeXY(X,Y,-spin_power);
            pc.printf("%.3f||%.3f||%.3f||%.3f||%.3f||\n\r",X, Y, start_angle, now_angle, spin_power);
            for(int i = 0; i < 4; i++)motor[i].setSpeed(omni.wheel[i]);
            for(int i = 0; i < 11; ++i)b2[i] = b[i];
        }else{
            pc.printf("error\n\r");
            for (int i = 0; i < 4; i++)motor[i].setSpeed(0);
        }
    }
}