keiichi shimazu / Mbed 2 deprecated NITKK2019_WinterB-Manual_madebyshimazu

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Dependencies:   mbed mdc_read

Control.cpp

Committer:
OishiHinata
Date:
2019-12-27
Revision:
0:9d5b8d0fb901
Child:
1:39ada37dfdbe

File content as of revision 0:9d5b8d0fb901:

#include "mbed.h"
#include "Control.h"
#include "pinmap.h"
void control::setup(){
    sb.setup(0);
}

void control::run(){
 
    OmniControl;   
}  

void control::OmniControl(){
    
    Vx = sb.joySstick_dt[0] * -1;
    Vy = sb.joySstick_dt[1];
    wl = sb.joySstick_dt[2];
    
    pwm[0]=     (Vx - Vy)*bias[0] + wl;
    pwm[1]=(-1)*(Vx + Vy)*bias[1] + wl;
    pwm[2]=(-1)*(Vx - Vy)*bias[2] + wl;
    pwm[3]=     (Vx + Vy)*bias[3] + wl;
    
    for(int i = 0; i < 4; i++){
        if(pwm[i] > 127){
            pwm[i] =127;
        }else if(pwm[i] < -127){
            pwm[i] = -127;
        }
    }
    
    mt1.move(pwm[0]/130.0f);
    mt2.move(pwm[1]/130.0f);
    mt3.move(pwm[2]/130.0f);
    mt4.move(pwm[3]/130.0f);
    
    
    
    
    
}