wheel_test7
Dependencies: QEI omni_wheel prototype01 PID ikarashiMDC OmniPosition
Diff: main.cpp
- Revision:
- 1:93f6f64ac719
- Parent:
- 0:898471aea1af
--- a/main.cpp Thu Aug 22 06:39:31 2019 +0000 +++ b/main.cpp Mon Aug 26 05:16:15 2019 +0000 @@ -1,7 +1,7 @@ #include "mbed.h" //wheel_test7 -#include "ikarashiMDC.h" //sampleライブラリ+PID -> うひょひょひょ +#include "ikarashiMDC.h" //protoライブラリ+PID -> うひょひょひょ #include "omni_wheel.h" -#include "sample02.h" +#include "proto01.h" #include "OmniPosition.h" #include "PID.h" @@ -22,7 +22,7 @@ ikarashiMDC(&serialcontrol,0,3,SM,&serial), }; -Sample sample(500, 1000, 0.4, 0.14); +Proto1 proto(500, 1000, 0.4, 0.14); int main() { @@ -42,25 +42,23 @@ angle.setSetPoint(0); while(1){ - if (cnt==500) sample.target_xy(-3800, 0, posi.getX(), posi.getY()); - if (cnt==1000) sample.target_xy(0, 0, posi.getX(), posi.getY()); - if (cnt==1500) sample.target_xy(-2000, 0, posi.getX(), posi.getY()); - if (cnt==2000) sample.target_xy(-2000, 2700, posi.getX(), posi.getY()); - if (cnt==2500) sample.target_xy(-2000, 0, posi.getX(), posi.getY()); - if (cnt==3000) sample.target_xy(0, 0, posi.getX(), posi.getY()); + if (cnt==500) prot.target_xy(-3800, 0, posi.getX(), posi.getY()); + if (cnt==1000) proto.target_xy(0, 0, posi.getX(), posi.getY()); + if (cnt==1500) proto.target_xy(-2000, 0, posi.getX(), posi.getY()); + if (cnt==2000) proto.target_xy(-2000, 2700, posi.getX(), posi.getY()); + if (cnt==2500) proto.target_xy(-2000, 0, posi.getX(), posi.getY()); + if (cnt==3000) proto.target_xy(0, 0, posi.getX(), posi.getY()); angle.setProcessValue(posi.getTheta()); double spin_power = -angle.compute(); - sample.calculate(posi.getX(), posi.getY()); - omni.computeXY(sample.getvalue_x(), sample.getvalue_y(), spin_power); -// omni.computeXY(0, 0, spin_power); + proto.calculate(posi.getX(), posi.getY()); + omni.computeXY(proto.getvalue_x(), proto.getvalue_y(), spin_power); for(int i = 0; i < 4; i++){ value[i] = omni.wheel[i]; pc.printf("%.2f || ",value[i]); } - int a = sample.nowDis > (sample.accdis+sample.middledis); pc.printf("x:%d || y:%d || θ:%f || vector:%f || now:%f || c:%f" - , posi.getX(), posi.getY(), posi.getTheta(), sample.vector, sample.nowDis, sample.counter); + , posi.getX(), posi.getY(), posi.getTheta(), proto.vector, proto.nowDis, proto.counter); for(int i = 0; i < 4; i++) { if (fabs(value[i]) < 0.05) value[i] = 0;