keiichi shimazu / Mbed 2 deprecated NITKK2019_WinterB-Manual_madebyshimazu

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Dependencies:   mbed mdc_read

Control.cpp@2:43e1336c80e4, 2019-12-27 (annotated)

Committer:
OishiHinata
Date:
Fri Dec 27 08:16:50 2019 +0000
Revision:
2:43e1336c80e4
Parent:
1:39ada37dfdbe
Child:
3:42a8da1837f7
winter_B

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 2:43e1336c80e4 13 /*vx = sb.UP_bit()
OishiHinata 2:43e1336c80e4 14 vy = sb.DOWN_bit()*/
OishiHinata 2:43e1336c80e4 15
OishiHinata 0:9d5b8d0fb901 16
OishiHinata 0:9d5b8d0fb901 17 pwm[0]= (Vx - Vy)*bias[0] + wl;
OishiHinata 0:9d5b8d0fb901 18 pwm[1]=(-1)*(Vx + Vy)*bias[1] + wl;
OishiHinata 0:9d5b8d0fb901 19 pwm[2]=(-1)*(Vx - Vy)*bias[2] + wl;
OishiHinata 0:9d5b8d0fb901 20 pwm[3]= (Vx + Vy)*bias[3] + wl;
OishiHinata 0:9d5b8d0fb901 21
OishiHinata 2:43e1336c80e4 22
OishiHinata 0:9d5b8d0fb901 23 for(int i = 0; i < 4; i++){
OishiHinata 0:9d5b8d0fb901 24 if(pwm[i] > 127){
OishiHinata 0:9d5b8d0fb901 25 pwm[i] =127;
OishiHinata 0:9d5b8d0fb901 26 }else if(pwm[i] < -127){
OishiHinata 0:9d5b8d0fb901 27 pwm[i] = -127;
OishiHinata 0:9d5b8d0fb901 28 }
OishiHinata 0:9d5b8d0fb901 29 }
OishiHinata 0:9d5b8d0fb901 30
OishiHinata 0:9d5b8d0fb901 31 mt1.move(pwm[0]/130.0f);
OishiHinata 0:9d5b8d0fb901 32 mt2.move(pwm[1]/130.0f);
OishiHinata 0:9d5b8d0fb901 33 mt3.move(pwm[2]/130.0f);
OishiHinata 0:9d5b8d0fb901 34 mt4.move(pwm[3]/130.0f);
OishiHinata 0:9d5b8d0fb901 35
OishiHinata 0:9d5b8d0fb901 36
OishiHinata 0:9d5b8d0fb901 37
OishiHinata 0:9d5b8d0fb901 38
OishiHinata 0:9d5b8d0fb901 39
OishiHinata 1:39ada37dfdbe 40 }
OishiHinata 1:39ada37dfdbe 41
OishiHinata 1:39ada37dfdbe 42 void control::run(){
OishiHinata 1:39ada37dfdbe 43
OishiHinata 1:39ada37dfdbe 44 OmniControl();
OishiHinata 1:39ada37dfdbe 45 }
OishiHinata 1:39ada37dfdbe 46