Wataru Shibazaki
/
minirobo_under_reserve
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Dependencies: mbed MotorDrivers
Revision 0:2c7c889dbf1a, committed 2020-10-07
- Comitter:
- sink
- Date:
- Wed Oct 07 07:50:02 2020 +0000
- Child:
- 1:57524647d891
- Commit message:
- reserve
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MotorDrivers.lib Wed Oct 07 07:50:02 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/sink/code/MotorDrivers/#9dd052490f0a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 07 07:50:02 2020 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "RoboClaw.h"
+#include "string"
+
+#define SQRT_3 1.73205080757
+#define MAX_QPPS1 40960
+#define MAX_QPPS2 40960
+#define INT_TIME 0.02
+#define ADRS1 129
+#define ADRS2 130
+
+Ticker timer;
+
+RawSerial Slave (p9,p10,115200);
+RawSerial controller (p13,p14,115200);
+
+RoboClaw MD(115200,p28,p27);
+
+string recv_str = "";
+char c_x = 127, c_y = 127, c_rot = 127, buttons = 0b00000000;
+
+
+
+void controller_recv(){
+ char recv_c = controller.getc();
+
+ if(recv_str.size() == 4 && recv_c == '\n'){
+ c_x = recv_str[0];
+ c_y = recv_str[1];
+ c_rot = recv_str[2];
+ buttons = recv_str[3];
+ recv_str = "";
+ }
+
+ else{
+ recv_str += recv_c;
+ if(recv_str.size() >= 5) recv_str = "";
+ }
+}
+
+void Roboclaw_send(double V1, double V2, double V3){
+ MD.SpeedM1(ADRS1,int(V1*MAX_QPPS1));
+ MD.SpeedM2(ADRS1,int(V2*MAX_QPPS1));
+ MD.SpeedM1(ADRS2,int(V3*MAX_QPPS2));
+}
+
+void timer_interrupt(){
+ int i_x = (int)c_x - 127;
+ int i_y = (int)c_y - 127;
+ int i_rot = (int)c_rot - 127;
+
+ double V1 = (double)i_x + (double)i_rot;
+ double V2 = -0.5*(double)i_x + SQRT_3*0.5*(double)i_y + (double)i_rot;
+ double V3 = -0.5*(double)i_x - SQRT_3*0.5*(double)i_y + (double)i_rot;
+
+ Roboclaw_send(V1,V2,V3);
+ Slave.putc(buttons);
+ Slave.putc('\n');
+}
+
+int main() {
+
+ timer.attach(&timer_interrupt,INT_TIME);
+
+ controller.attach(&controller_recv,RawSerial::RxIrq);
+
+ while(true) {}
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 07 07:50:02 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file