Diff: main.cpp

Revision:

1:93f6f64ac719

Parent:

0:898471aea1af

diff -r 898471aea1af -r 93f6f64ac719 main.cpp
--- 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;