test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
main.cpp@6:43708adf2e5d, 2019-02-10 (annotated)
- Committer:
- yuto17320508
- Date:
- Sun Feb 10 09:14:15 2019 +0000
- Revision:
- 6:43708adf2e5d
- Parent:
- 5:556d5a5e9d24
- Child:
- 7:72c80a7c20d6
maybe can walk;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 3:bcae0bb64b81 | 1 | //mbed間の同期を、master-slaveで行いたい。 |
yuto17320508 | 4:fffdb273836e | 2 | //masetrで4つの脚の動きをすべて決定, |
yuto17320508 | 4:fffdb273836e | 3 | //その動きをslaveに送る。 |
yuto17320508 | 3:bcae0bb64b81 | 4 | |
yuto17320508 | 0:f000d896d188 | 5 | #include "mbed.h" |
yuto17320508 | 0:f000d896d188 | 6 | #include "KondoServo.h" |
yuto17320508 | 6:43708adf2e5d | 7 | #define Mastar; |
yuto17320508 | 3:bcae0bb64b81 | 8 | //#define Slave; |
yuto17320508 | 4:fffdb273836e | 9 | |
yuto17320508 | 6:43708adf2e5d | 10 | //各値 |
yuto17320508 | 6:43708adf2e5d | 11 | namespace Parameters |
shimizuta | 2:a92568bdeb5c | 12 | { |
yuto17320508 | 5:556d5a5e9d24 | 13 | const float Pi = 3.141592; |
yuto17320508 | 5:556d5a5e9d24 | 14 | const float kRadToDegree = 180.0 / Pi; |
yuto17320508 | 5:556d5a5e9d24 | 15 | const float tickerTime = 0.006f; //Ticker間隔 |
yuto17320508 | 6:43708adf2e5d | 16 | float OffsetY = 0.15f; |
yuto17320508 | 5:556d5a5e9d24 | 17 | float Stride_time_s = 1.0f;//床についている時間 |
yuto17320508 | 6:43708adf2e5d | 18 | float Stride_length_m = 0.05f;//歩幅 |
yuto17320508 | 5:556d5a5e9d24 | 19 | float Rising_time_s = 0.2f;//脚を上げている時間 |
yuto17320508 | 5:556d5a5e9d24 | 20 | float Width_m = 0.03f;//脚を上げる高さ |
yuto17320508 | 5:556d5a5e9d24 | 21 | static const int straight = 0; |
yuto17320508 | 5:556d5a5e9d24 | 22 | static const int turnleft = 1; |
yuto17320508 | 5:556d5a5e9d24 | 23 | static const int turnright = 2; |
yuto17320508 | 5:556d5a5e9d24 | 24 | static const int climb = 3; |
yuto17320508 | 5:556d5a5e9d24 | 25 | static const int overcoming = 4; |
yuto17320508 | 6:43708adf2e5d | 26 | } |
yuto17320508 | 6:43708adf2e5d | 27 | //定義 |
yuto17320508 | 6:43708adf2e5d | 28 | namespace Quadruped//4脚ロボット |
yuto17320508 | 6:43708adf2e5d | 29 | { |
yuto17320508 | 6:43708adf2e5d | 30 | using namespace Parameters; |
yuto17320508 | 6:43708adf2e5d | 31 | void SetOffsetY(float offsetY){OffsetY=offsetY;} |
yuto17320508 | 6:43708adf2e5d | 32 | void SetStrideMotion(float stride_time_s, float stride_length_m){Stride_time_s=stride_time_s;Stride_length_m=stride_length_m;}///////////////////////////////////設定 |
yuto17320508 | 6:43708adf2e5d | 33 | void SetRisiongMotion(float rising_time_s, float width_m){Rising_time_s=rising_time_s;Width_m =width_m;}////////////////////////////////////////設定 |
yuto17320508 | 6:43708adf2e5d | 34 | //ROSから送られてきたLRFのデータをもとに現在すべき動作を定義する。 |
yuto17320508 | 6:43708adf2e5d | 35 | int WalkMode = 0; |
yuto17320508 | 6:43708adf2e5d | 36 | void SetWalkMode(int mode){WalkMode = mode;} |
yuto17320508 | 5:556d5a5e9d24 | 37 | //4つの脚のtargetを保存する Legクラスで後で使えるようにしておく |
yuto17320508 | 6:43708adf2e5d | 38 | float TargetX[4]; |
yuto17320508 | 6:43708adf2e5d | 39 | float TargetY[4]; |
yuto17320508 | 5:556d5a5e9d24 | 40 | //脚の定義 位置を入力するとその方向にサーボが動く |
yuto17320508 | 5:556d5a5e9d24 | 41 | class Leg; |
yuto17320508 | 5:556d5a5e9d24 | 42 | //脚ごとのモーション これを組み合わせる |
yuto17320508 | 5:556d5a5e9d24 | 43 | namespace Motion{} |
yuto17320508 | 5:556d5a5e9d24 | 44 | //モーションを組み合わせて歩行パターンを形成する |
yuto17320508 | 5:556d5a5e9d24 | 45 | //前進、旋回など |
yuto17320508 | 5:556d5a5e9d24 | 46 | namespace WalkingPattern{} |
yuto17320508 | 5:556d5a5e9d24 | 47 | //パターン関数を呼び出す 一つの関数でいいようにswitchする |
yuto17320508 | 5:556d5a5e9d24 | 48 | void CalcWalk(int legNum, Leg leg); |
yuto17320508 | 5:556d5a5e9d24 | 49 | } // namespace Quadruped |
yuto17320508 | 4:fffdb273836e | 50 | |
yuto17320508 | 4:fffdb273836e | 51 | namespace CanConnector |
yuto17320508 | 4:fffdb273836e | 52 | { |
yuto17320508 | 6:43708adf2e5d | 53 | //Maserとslaveの定義 同じ関数名で動くようにしたい |
yuto17320508 | 6:43708adf2e5d | 54 | class MastarConnector; |
yuto17320508 | 6:43708adf2e5d | 55 | class SlaveConnector; |
yuto17320508 | 4:fffdb273836e | 56 | } |
yuto17320508 | 4:fffdb273836e | 57 | |
yuto17320508 | 4:fffdb273836e | 58 | //実装 |
yuto17320508 | 4:fffdb273836e | 59 | namespace Quadruped |
yuto17320508 | 4:fffdb273836e | 60 | { |
yuto17320508 | 5:556d5a5e9d24 | 61 | //脚の定義 |
yuto17320508 | 5:556d5a5e9d24 | 62 | class Leg |
yuto17320508 | 5:556d5a5e9d24 | 63 | { |
yuto17320508 | 5:556d5a5e9d24 | 64 | float rad_[2]; |
yuto17320508 | 5:556d5a5e9d24 | 65 | int id_[2]; |
yuto17320508 | 5:556d5a5e9d24 | 66 | //パラメータ。実際の機体に合わせていじる |
yuto17320508 | 5:556d5a5e9d24 | 67 | static const float dist_between_servo_half_m_ = 0.06f * 0.5; |
yuto17320508 | 5:556d5a5e9d24 | 68 | static const float LegLength1 = 0.1f; |
yuto17320508 | 5:556d5a5e9d24 | 69 | static const float LegLength2 = 0.2f; |
yuto17320508 | 5:556d5a5e9d24 | 70 | KondoServo servo_; |
yuto17320508 | 3:bcae0bb64b81 | 71 | |
yuto17320508 | 5:556d5a5e9d24 | 72 | public: |
yuto17320508 | 5:556d5a5e9d24 | 73 | Leg(PinName pin_serial_tx, PinName pin_serial_rx); |
yuto17320508 | 5:556d5a5e9d24 | 74 | void MoveServo(int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 75 | void CalServoRad(float x_m, float y_m); |
yuto17320508 | 5:556d5a5e9d24 | 76 | void SetRad(float rad, int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 77 | float GetRad(int servo_num); |
yuto17320508 | 5:556d5a5e9d24 | 78 | }; |
yuto17320508 | 5:556d5a5e9d24 | 79 | |
yuto17320508 | 5:556d5a5e9d24 | 80 | namespace Motion |
yuto17320508 | 5:556d5a5e9d24 | 81 | { |
yuto17320508 | 6:43708adf2e5d | 82 | void Stride(float time_s,float &targetX, float &targetY); |
yuto17320508 | 6:43708adf2e5d | 83 | void Rising(float time_s,float &targetX, float &targetY); |
yuto17320508 | 6:43708adf2e5d | 84 | void Stop(float &targetX, float &targetY); |
yuto17320508 | 5:556d5a5e9d24 | 85 | } // namespace Motion |
yuto17320508 | 5:556d5a5e9d24 | 86 | |
yuto17320508 | 5:556d5a5e9d24 | 87 | namespace WalkingPattern |
yuto17320508 | 5:556d5a5e9d24 | 88 | { |
yuto17320508 | 5:556d5a5e9d24 | 89 | using namespace Motion; |
yuto17320508 | 5:556d5a5e9d24 | 90 | void Straight(); |
yuto17320508 | 5:556d5a5e9d24 | 91 | void TurnLeft(); |
yuto17320508 | 5:556d5a5e9d24 | 92 | void TurnRight(); |
yuto17320508 | 5:556d5a5e9d24 | 93 | void Climb(); |
yuto17320508 | 5:556d5a5e9d24 | 94 | void Overcoming(); //段差、紐乗り越え動作 |
yuto17320508 | 5:556d5a5e9d24 | 95 | } // namespace WalkingPattern |
yuto17320508 | 3:bcae0bb64b81 | 96 | |
yuto17320508 | 5:556d5a5e9d24 | 97 | Leg::Leg(PinName pin_serial_tx, PinName pin_serial_rx) : servo_(pin_serial_tx, pin_serial_rx) |
yuto17320508 | 5:556d5a5e9d24 | 98 | { |
yuto17320508 | 5:556d5a5e9d24 | 99 | rad_[0] = 0; |
yuto17320508 | 5:556d5a5e9d24 | 100 | rad_[1] = Pi; |
yuto17320508 | 5:556d5a5e9d24 | 101 | }; |
yuto17320508 | 5:556d5a5e9d24 | 102 | void Leg::MoveServo(int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 103 | { |
yuto17320508 | 5:556d5a5e9d24 | 104 | float degree = GetRad(servo_num) * kRadToDegree; |
yuto17320508 | 5:556d5a5e9d24 | 105 | //servo1は反転させる |
yuto17320508 | 5:556d5a5e9d24 | 106 | if (servo_num == 0) |
yuto17320508 | 5:556d5a5e9d24 | 107 | degree += 90; |
yuto17320508 | 5:556d5a5e9d24 | 108 | else |
yuto17320508 | 5:556d5a5e9d24 | 109 | degree = 270 - degree; |
yuto17320508 | 5:556d5a5e9d24 | 110 | servo_.set_degree(servo_num, degree); |
yuto17320508 | 5:556d5a5e9d24 | 111 | } |
yuto17320508 | 5:556d5a5e9d24 | 112 | void Leg::CalServoRad(float x_m, float y_m) |
yuto17320508 | 5:556d5a5e9d24 | 113 | { |
yuto17320508 | 5:556d5a5e9d24 | 114 | //処理を軽くするために共通部分は先に計算 |
yuto17320508 | 5:556d5a5e9d24 | 115 | float temp_x[] = {x_m + dist_between_servo_half_m_, |
yuto17320508 | 5:556d5a5e9d24 | 116 | x_m - dist_between_servo_half_m_}; |
yuto17320508 | 5:556d5a5e9d24 | 117 | float temp_y2 = y_m * y_m; |
yuto17320508 | 5:556d5a5e9d24 | 118 | float temp_L = LegLength1 * LegLength1 - LegLength2 * LegLength2; |
yuto17320508 | 4:fffdb273836e | 119 | |
yuto17320508 | 5:556d5a5e9d24 | 120 | float r1 = sqrt((temp_x[1]) * (temp_x[1]) + temp_y2); |
yuto17320508 | 5:556d5a5e9d24 | 121 | float r2 = sqrt((temp_x[0]) * (temp_x[0]) + temp_y2); |
yuto17320508 | 5:556d5a5e9d24 | 122 | float targetTheta[] = {atan2(y_m, temp_x[1]) - acos((temp_L + r1 * r1) / (2.0f * r1 * LegLength1)), |
yuto17320508 | 5:556d5a5e9d24 | 123 | atan2(y_m, temp_x[0]) + acos((temp_L + r2 * r2) / (2.0f * r2 * LegLength1))}; |
yuto17320508 | 5:556d5a5e9d24 | 124 | for (size_t i = 0; i < 2; i++) |
yuto17320508 | 5:556d5a5e9d24 | 125 | SetRad(targetTheta[i], i); |
yuto17320508 | 5:556d5a5e9d24 | 126 | } |
yuto17320508 | 5:556d5a5e9d24 | 127 | void Leg::SetRad(float rad, int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 128 | { |
yuto17320508 | 5:556d5a5e9d24 | 129 | rad_[servo_num] = rad; |
yuto17320508 | 5:556d5a5e9d24 | 130 | } |
yuto17320508 | 5:556d5a5e9d24 | 131 | float Leg::GetRad(int servo_num) |
yuto17320508 | 5:556d5a5e9d24 | 132 | { |
yuto17320508 | 5:556d5a5e9d24 | 133 | return rad_[servo_num]; |
shimizuta | 2:a92568bdeb5c | 134 | } |
shimizuta | 2:a92568bdeb5c | 135 | |
yuto17320508 | 3:bcae0bb64b81 | 136 | |
yuto17320508 | 6:43708adf2e5d | 137 | void Motion::Stride(float time_s,float &targetX, float &targetY) |
yuto17320508 | 5:556d5a5e9d24 | 138 | { |
yuto17320508 | 6:43708adf2e5d | 139 | targetX = -((Stride_length_m*time_s/Stride_time_s) - (Stride_length_m/2.0f)); |
yuto17320508 | 6:43708adf2e5d | 140 | targetY = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 141 | } |
yuto17320508 | 5:556d5a5e9d24 | 142 | |
yuto17320508 | 6:43708adf2e5d | 143 | void Motion::Rising(float time_s,float &targetX, float &targetY) |
yuto17320508 | 5:556d5a5e9d24 | 144 | { |
yuto17320508 | 6:43708adf2e5d | 145 | //targetX = ((Stride_length_m*time_s/Rising_time_s) - (Stride_length_m/2.0f)); |
yuto17320508 | 6:43708adf2e5d | 146 | //targetY = |
yuto17320508 | 5:556d5a5e9d24 | 147 | } |
yuto17320508 | 5:556d5a5e9d24 | 148 | |
yuto17320508 | 5:556d5a5e9d24 | 149 | void WalkingPattern::Straight() |
yuto17320508 | 5:556d5a5e9d24 | 150 | { |
yuto17320508 | 6:43708adf2e5d | 151 | static float time_s = 0.0f;//共通時間 |
yuto17320508 | 6:43708adf2e5d | 152 | float walkPeriod = Stride_time_s+Rising_time_s;//周期 |
yuto17320508 | 6:43708adf2e5d | 153 | float offsetTime[4] = {0.0f, walkPeriod/2.0f, 0.0f, walkPeriod/2.0f};//位相をずれすための時間の初期誤差 |
yuto17320508 | 6:43708adf2e5d | 154 | for(int i=0;i<4;++i)//4脚それぞれのtargetPoseを設定する |
yuto17320508 | 5:556d5a5e9d24 | 155 | { |
yuto17320508 | 6:43708adf2e5d | 156 | float thisLegTime = time_s + offsetTime[i];//脚に合わせたそれぞれの時間 |
yuto17320508 | 6:43708adf2e5d | 157 | if(thisLegTime <= Stride_time_s) Motion::Stride(thisLegTime, TargetX[i],TargetY[i]); |
yuto17320508 | 6:43708adf2e5d | 158 | else if(thisLegTime <= walkPeriod) Motion::Rising(thisLegTime-Stride_time_s,TargetX[i],TargetY[i]); |
yuto17320508 | 6:43708adf2e5d | 159 | else Motion::Stride(thisLegTime-walkPeriod,TargetX[i],TargetY[i]); |
yuto17320508 | 5:556d5a5e9d24 | 160 | } |
yuto17320508 | 5:556d5a5e9d24 | 161 | time_s += tickerTime*2.0f; |
yuto17320508 | 6:43708adf2e5d | 162 | if(time_s >= walkPeriod) time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 163 | |
yuto17320508 | 5:556d5a5e9d24 | 164 | } |
yuto17320508 | 5:556d5a5e9d24 | 165 | void WalkingPattern::TurnLeft() |
yuto17320508 | 5:556d5a5e9d24 | 166 | { |
yuto17320508 | 6:43708adf2e5d | 167 | //static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 168 | |
yuto17320508 | 5:556d5a5e9d24 | 169 | } |
yuto17320508 | 5:556d5a5e9d24 | 170 | void WalkingPattern::TurnRight() |
yuto17320508 | 5:556d5a5e9d24 | 171 | { |
yuto17320508 | 6:43708adf2e5d | 172 | //static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 173 | |
yuto17320508 | 5:556d5a5e9d24 | 174 | } |
yuto17320508 | 5:556d5a5e9d24 | 175 | void WalkingPattern::Climb() |
yuto17320508 | 5:556d5a5e9d24 | 176 | { |
yuto17320508 | 6:43708adf2e5d | 177 | //static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 178 | |
yuto17320508 | 5:556d5a5e9d24 | 179 | } |
yuto17320508 | 5:556d5a5e9d24 | 180 | void WalkingPattern::Overcoming() |
yuto17320508 | 5:556d5a5e9d24 | 181 | { |
yuto17320508 | 6:43708adf2e5d | 182 | //static float time_s = 0.0f; |
yuto17320508 | 5:556d5a5e9d24 | 183 | |
yuto17320508 | 5:556d5a5e9d24 | 184 | } |
yuto17320508 | 5:556d5a5e9d24 | 185 | |
yuto17320508 | 5:556d5a5e9d24 | 186 | void CalcWalk() |
yuto17320508 | 5:556d5a5e9d24 | 187 | { |
yuto17320508 | 5:556d5a5e9d24 | 188 | switch(WalkMode) |
yuto17320508 | 5:556d5a5e9d24 | 189 | { |
yuto17320508 | 5:556d5a5e9d24 | 190 | case straight: |
yuto17320508 | 5:556d5a5e9d24 | 191 | WalkingPattern::Straight(); |
yuto17320508 | 5:556d5a5e9d24 | 192 | break; |
yuto17320508 | 5:556d5a5e9d24 | 193 | case turnleft: |
yuto17320508 | 5:556d5a5e9d24 | 194 | WalkingPattern::TurnLeft(); |
yuto17320508 | 5:556d5a5e9d24 | 195 | break; |
yuto17320508 | 5:556d5a5e9d24 | 196 | case turnright: |
yuto17320508 | 5:556d5a5e9d24 | 197 | WalkingPattern::TurnRight(); |
yuto17320508 | 5:556d5a5e9d24 | 198 | break; |
yuto17320508 | 5:556d5a5e9d24 | 199 | case climb: |
yuto17320508 | 5:556d5a5e9d24 | 200 | WalkingPattern::Climb(); |
yuto17320508 | 5:556d5a5e9d24 | 201 | break; |
yuto17320508 | 5:556d5a5e9d24 | 202 | case overcoming: |
yuto17320508 | 5:556d5a5e9d24 | 203 | WalkingPattern::Overcoming(); |
yuto17320508 | 5:556d5a5e9d24 | 204 | break; |
yuto17320508 | 5:556d5a5e9d24 | 205 | } |
yuto17320508 | 5:556d5a5e9d24 | 206 | } |
yuto17320508 | 5:556d5a5e9d24 | 207 | } // namespace Quadruped |
shimizuta | 2:a92568bdeb5c | 208 | |
yuto17320508 | 6:43708adf2e5d | 209 | namespace CanConnector |
yuto17320508 | 6:43708adf2e5d | 210 | { |
yuto17320508 | 6:43708adf2e5d | 211 | class MastarConnector |
yuto17320508 | 6:43708adf2e5d | 212 | { |
yuto17320508 | 6:43708adf2e5d | 213 | public: |
yuto17320508 | 6:43708adf2e5d | 214 | MastarConnector(PinName rd, PinName td); |
yuto17320508 | 6:43708adf2e5d | 215 | CAN can_; |
yuto17320508 | 6:43708adf2e5d | 216 | |
yuto17320508 | 6:43708adf2e5d | 217 | }; |
yuto17320508 | 6:43708adf2e5d | 218 | MastarConnector::MastarConnector(PinName rd, PinName td): can_(rd, td) |
yuto17320508 | 6:43708adf2e5d | 219 | { |
yuto17320508 | 6:43708adf2e5d | 220 | |
yuto17320508 | 6:43708adf2e5d | 221 | } |
yuto17320508 | 6:43708adf2e5d | 222 | |
yuto17320508 | 6:43708adf2e5d | 223 | |
yuto17320508 | 6:43708adf2e5d | 224 | class SlaveConnector |
yuto17320508 | 6:43708adf2e5d | 225 | { |
yuto17320508 | 6:43708adf2e5d | 226 | public: |
yuto17320508 | 6:43708adf2e5d | 227 | SlaveConnector(PinName rd, PinName td); |
yuto17320508 | 6:43708adf2e5d | 228 | CAN can_; |
yuto17320508 | 6:43708adf2e5d | 229 | |
yuto17320508 | 6:43708adf2e5d | 230 | }; |
yuto17320508 | 6:43708adf2e5d | 231 | SlaveConnector::SlaveConnector(PinName rd, PinName td): can_(rd, td) |
yuto17320508 | 6:43708adf2e5d | 232 | { |
yuto17320508 | 6:43708adf2e5d | 233 | |
yuto17320508 | 6:43708adf2e5d | 234 | } |
yuto17320508 | 6:43708adf2e5d | 235 | |
yuto17320508 | 6:43708adf2e5d | 236 | } |
yuto17320508 | 6:43708adf2e5d | 237 | |
yuto17320508 | 3:bcae0bb64b81 | 238 | //////////////////////////////////////////////////////////////以上が4脚ロボットに関する記述 |
yuto17320508 | 3:bcae0bb64b81 | 239 | using namespace Quadruped; |
yuto17320508 | 3:bcae0bb64b81 | 240 | Leg leg1(p9, p10); |
yuto17320508 | 5:556d5a5e9d24 | 241 | Leg leg2(p28, p27); |
yuto17320508 | 5:556d5a5e9d24 | 242 | CAN can1(p30, p29); |
shimizuta | 2:a92568bdeb5c | 243 | Ticker fliper; |
shimizuta | 2:a92568bdeb5c | 244 | |
yuto17320508 | 5:556d5a5e9d24 | 245 | |
yuto17320508 | 0:f000d896d188 | 246 | void cb_timer() |
yuto17320508 | 0:f000d896d188 | 247 | { |
shimizuta | 2:a92568bdeb5c | 248 | static int servo_num = 0; |
shimizuta | 2:a92568bdeb5c | 249 | static float time_s = 0.0f; |
shimizuta | 2:a92568bdeb5c | 250 | //出力。片サーボずつ |
yuto17320508 | 3:bcae0bb64b81 | 251 | leg1.MoveServo(servo_num); |
yuto17320508 | 3:bcae0bb64b81 | 252 | leg2.MoveServo(servo_num); |
shimizuta | 2:a92568bdeb5c | 253 | ++servo_num; |
yuto17320508 | 5:556d5a5e9d24 | 254 | |
shimizuta | 2:a92568bdeb5c | 255 | if (servo_num > 1) //両サーボ出力したら |
yuto17320508 | 0:f000d896d188 | 256 | { |
shimizuta | 2:a92568bdeb5c | 257 | //目標角の更新 |
yuto17320508 | 6:43708adf2e5d | 258 | Quadruped::CalcWalk(); |
yuto17320508 | 6:43708adf2e5d | 259 | //このマイコンで使う脚だけ計算 |
yuto17320508 | 6:43708adf2e5d | 260 | leg1.CalServoRad(TargetX[0], TargetY[0] + OffsetY); |
yuto17320508 | 6:43708adf2e5d | 261 | leg2.CalServoRad(TargetX[1], TargetY[1] + OffsetY); |
shimizuta | 2:a92568bdeb5c | 262 | servo_num = 0; |
yuto17320508 | 0:f000d896d188 | 263 | } |
shimizuta | 2:a92568bdeb5c | 264 | time_s += tickerTime; |
yuto17320508 | 5:556d5a5e9d24 | 265 | |
yuto17320508 | 0:f000d896d188 | 266 | } |
shimizuta | 2:a92568bdeb5c | 267 | int main() |
yuto17320508 | 0:f000d896d188 | 268 | { |
yuto17320508 | 6:43708adf2e5d | 269 | Quadruped::CalcWalk(); |
yuto17320508 | 6:43708adf2e5d | 270 | leg1.CalServoRad(TargetX[0], TargetY[0] + OffsetY); |
yuto17320508 | 6:43708adf2e5d | 271 | leg2.CalServoRad(TargetX[1], TargetY[1] + OffsetY); |
yuto17320508 | 0:f000d896d188 | 272 | fliper.attach(&cb_timer, tickerTime); |
yuto17320508 | 0:f000d896d188 | 273 | } |