keiichi shimazu
/
NITKK2019_WinterB-Manual_madebyshimazu
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Diff: Control.cpp
- Revision:
- 0:9d5b8d0fb901
- Child:
- 1:39ada37dfdbe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Control.cpp Fri Dec 27 02:58:06 2019 +0000
@@ -0,0 +1,41 @@
+#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);
+
+
+
+
+
+}
\ No newline at end of file