keiichi shimazu / Mbed 2 deprecated NITKK2019_WinterB-Manual_madebyshimazu

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Dependencies:   mbed mdc_read

Control.cpp@1:39ada37dfdbe, 2019-12-27 (annotated)

Committer:
OishiHinata
Date:
Fri Dec 27 05:43:32 2019 +0000
Revision:
1:39ada37dfdbe
Parent:
0:9d5b8d0fb901
Child:
2:43e1336c80e4
NITKK_winterB_2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OishiHinata 0:9d5b8d0fb901 1 #include "mbed.h"
OishiHinata 0:9d5b8d0fb901 2 #include "Control.h"
OishiHinata 0:9d5b8d0fb901 3 #include "pinmap.h"
OishiHinata 0:9d5b8d0fb901 4 void control::setup(){
OishiHinata 0:9d5b8d0fb901 5 sb.setup(0);
OishiHinata 0:9d5b8d0fb901 6 }
OishiHinata 0:9d5b8d0fb901 7
OishiHinata 0:9d5b8d0fb901 8 void control::OmniControl(){
OishiHinata 0:9d5b8d0fb901 9
OishiHinata 1:39ada37dfdbe 10 Vx = sb.JoyStick_dt[0] * -1;
OishiHinata 1:39ada37dfdbe 11 Vy = sb.JoyStick_dt[1];
OishiHinata 1:39ada37dfdbe 12 wl = sb.JoyStick_dt[2];
OishiHinata 0:9d5b8d0fb901 13
OishiHinata 0:9d5b8d0fb901 14 pwm[0]= (Vx - Vy)*bias[0] + wl;
OishiHinata 0:9d5b8d0fb901 15 pwm[1]=(-1)*(Vx + Vy)*bias[1] + wl;
OishiHinata 0:9d5b8d0fb901 16 pwm[2]=(-1)*(Vx - Vy)*bias[2] + wl;
OishiHinata 0:9d5b8d0fb901 17 pwm[3]= (Vx + Vy)*bias[3] + wl;
OishiHinata 0:9d5b8d0fb901 18
OishiHinata 0:9d5b8d0fb901 19 for(int i = 0; i < 4; i++){
OishiHinata 0:9d5b8d0fb901 20 if(pwm[i] > 127){
OishiHinata 0:9d5b8d0fb901 21 pwm[i] =127;
OishiHinata 0:9d5b8d0fb901 22 }else if(pwm[i] < -127){
OishiHinata 0:9d5b8d0fb901 23 pwm[i] = -127;
OishiHinata 0:9d5b8d0fb901 24 }
OishiHinata 0:9d5b8d0fb901 25 }
OishiHinata 0:9d5b8d0fb901 26
OishiHinata 0:9d5b8d0fb901 27 mt1.move(pwm[0]/130.0f);
OishiHinata 0:9d5b8d0fb901 28 mt2.move(pwm[1]/130.0f);
OishiHinata 0:9d5b8d0fb901 29 mt3.move(pwm[2]/130.0f);
OishiHinata 0:9d5b8d0fb901 30 mt4.move(pwm[3]/130.0f);
OishiHinata 0:9d5b8d0fb901 31
OishiHinata 0:9d5b8d0fb901 32
OishiHinata 0:9d5b8d0fb901 33
OishiHinata 0:9d5b8d0fb901 34
OishiHinata 0:9d5b8d0fb901 35
OishiHinata 1:39ada37dfdbe 36 }
OishiHinata 1:39ada37dfdbe 37
OishiHinata 1:39ada37dfdbe 38 void control::run(){
OishiHinata 1:39ada37dfdbe 39
OishiHinata 1:39ada37dfdbe 40 OmniControl();
OishiHinata 1:39ada37dfdbe 41 }
OishiHinata 1:39ada37dfdbe 42