Fumiya Fujisawa
三輪オムニテンプレート的なもの，マンバマックスを通すとおそらくモーターが動かせる
Revision 0:0706f274e446, committed 2014-04-28
- Comitter:
- ryuna
- Date:
- Mon Apr 28 07:42:39 2014 +0000
- Commit message:
- 3legOmni
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Mon Apr 28 07:42:39 2014 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 28 07:42:39 2014 +0000
@@ -0,0 +1,91 @@
+/*****************
+
+3輪オムニ用モータ回転計算式
+
+参考
++ http://www50.atwiki.jp/okarobocon/pages/13.html
+
++ use robocup junior program
+
+ /////////////////
++ use servo library
+
+ Servo use PwmOutPin{p21~p26}.
+///////////////////////////////////
+
+Position Servo (full left, middle, full right) = (0.0, 0.5, 1.0)
+
+
+
+
+******************/
+#include "mbed.h"
+#include <math.h>
+#include "Servo.h"
+
+
+#define MOTO_CYCLE 0.05
+Serial pc(USBTX, USBRX);
+
+Servo pwm[3] = {p21, p22, p23};
+DigitalOut myled(LED1);
+
+//Ticker Motor;
+
+void move(int vxx, int vyy){
+ /** motors print value operate***/
+ float calculate[3] = {0};
+ int i = 0;
+
+ calculate[0] = vxx *(-1.0);
+ calculate[1] = vxx *0.5 + vyy * (-(sqrt(3.0))/2.0);
+ calculate[2] = vxx *0.5 + vyy * ((sqrt(3.0))/2.0);
+
+ for(i =0; i < 3; i++){
+ if(calculate[i] > 100){
+ calculate[i] = 100;
+ }else if(calculate[i] < -100){
+ calculate[i] = -100;
+ }
+ pwm[i] = 0.5 + (calculate[i]/ 200.0);
+ }
+ pc.printf("motor:%f, motor:%f, motor:%f\n",calculate[0],calculate[1],calculate[2]);
+ //±100を超えないように注意する
+ /*
+ pwm[0] = 0;
+ pwm[1] = 0;
+ pwm[2] = 0;
+ */
+
+}
+
+int main() {
+
+ //Motor.attach(&motor_printf, MOTOR_CYCLE); /*周期割り込みでモーターが動く*/
+
+ int vx, vy;
+ float range = 0.5;
+ printf("- Position Servo (full left, middle, full right) = (0.0, 0.5, 1.0)\n");
+ move(0,0);
+
+ //pwm[0].calibrate(range, 45.0);
+ //pwm[1].calibrate(range, 45.0);
+ //pwm[2].calibrate(range, 45.0);
+ while(1) {
+ vx = 0;
+ vy = 0;
+
+ /*example move*/
+ switch(pc.getc()){
+ case '1': vx = vy = -100; break;
+ case '2': vx = vy = 0; break;
+ case '3': vx = vy = 100; break;
+
+ }
+ move(vx,vy);
+
+ //vy = pc.gets();
+
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Apr 28 07:42:39 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6473597d706e \ No newline at end of file