Kouki Suzuki
void
Revision 2:4a8227afe47b, committed 2018-10-01
- Comitter:
- Kouki Suzuki
- Date:
- Mon Oct 01 21:19:50 2018 +0900
- Parent:
- 1:57b4a0340e93
- Commit message:
- v1
Changed in this revision
diff -r 57b4a0340e93 -r 4a8227afe47b SerialMultiByte.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SerialMultiByte.lib Mon Oct 01 21:19:50 2018 +0900 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/SerialMultiByte/#4109001829fe
diff -r 57b4a0340e93 -r 4a8227afe47b main.cpp
--- a/main.cpp Mon Oct 01 12:05:13 2018 +0000
+++ b/main.cpp Mon Oct 01 21:19:50 2018 +0900
@@ -1,4 +1,111 @@
-#include "mbed.h"
-
-int main(){
-}
\ No newline at end of file
+
+#include"wheel_unit.h"
+#include"mbed.h"
+
+wheel_unit wheel_unit;
+int main(){
+ while(true){
+ wheel_unit.main_do();
+ }
+}
+/*
+#include"PS3.h"
+#include"mbed.h"
+#include"pin_config.h"
+#include"omni_wheel.h"
+#include"wheel.h"
+#include"ikarashiMDC.h"
+#include"SerialMultiByte.h"
+#include"PID.h"
+#define PI 3.141592
+
+SerialMultiByte sboard(SERIAL_TX,SERIAL_RX);
+PS3 ps3(PS3_TX,PS3_RX);
+PID pid(6.0,3.0,0.000005,0.01);
+Serial pc(USBTX,USBRX,115200);
+OmniWheel omni(4);
+Serial serial(MDC_TX,MDC_RX,115200);
+DigitalOut serialcontrol(D10);
+ikarashiMDC motor[]{
+ ikarashiMDC(&serialcontrol,1,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,2,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,3,SM,&serial),
+};
+uint8_t rx_data[10];
+int b[12];
+int stick[4];
+int trigger[2];
+int i,angle,default_angle;
+double spin;
+int main(){
+ pid.setInputLimits(-18000,18000);
+ pid.setOutputLimits(-1.0,1.0);
+ pid.setBias(0);
+ pid.setMode(1);
+ sboard.baud(115200);
+ sboard.setHeaders('H','Z');
+ sboard.startReceive(2);
+ sboard.getData(rx_data);
+ default_angle = ((rx_data[0] << 8) | rx_data[1]);
+ if(rx_data[0] >= 128)
+ default_angle = ((default_angle - 32768) * -1);
+ omni.wheel[0].setRadian(PI / 4.0 * 1.0 );
+ omni.wheel[1].setRadian(PI / 4.0 * 7.0 );
+ omni.wheel[2].setRadian(PI / 4.0 * 5.0 );
+ omni.wheel[3].setRadian(PI / 4.0 * 3.0 );
+ while(1){
+ sboard.getData(rx_data);
+ angle = ((rx_data[0] << 8) | rx_data[1]);
+ if(rx_data[0] >= 128)
+ angle = ((angle - 32768) * -1);
+ if(b[5] == 1){
+ sboard.getData(rx_data);
+ default_angle = ((rx_data[0] << 8) | rx_data[1]);
+ if(rx_data[0] >= 128)
+ default_angle = ((default_angle - 32768) * -1);
+ pid.reset();
+ }
+ angle = -1*(angle - default_angle);
+ pc.printf("sb*%d/%d/%d/%d/",angle,rx_data[0],rx_data[1],angle);
+ pid.setSetPoint(0.0);
+ pid.setProcessValue(double(angle));
+ double spin_power = pid.compute();
+ pc.printf("sp1*%f",spin_power);
+ for(i = 0;i < 12;i++){
+ b[i] = ps3.getButton(i);
+ pc.printf("%d-",b[i]);
+ }
+ for(i = 0;i < 4;i++){
+ stick[i] = ps3.getStick(i);
+ pc.printf("%d--",stick[i]);
+ }
+ for(i = 0;i < 2;i++){
+ trigger[i] = ps3.getTrigger(i);
+ pc.printf("%d--",trigger[i]);
+ }
+ double X = (double)((stick[0]/255.0 - 0.5)*2.0);
+ double Y = (double)((stick[1]/255.0 - 0.5)*2.0);
+ if(b[0])Y=0.3;
+ if(b[1])Y=-0.3;
+ if(b[2])X=0.3;
+ if(b[3])X=-0.3;
+ if(X <=0.2&&X>=-0.2)X = 0.0;
+ if(Y <=0.2&&Y>=-0.2)Y = 0.0;
+ if(((trigger[0]-trigger[1])/255.0) == 0 && b[4] == 1){
+ spin = spin_power;
+ }
+ else{
+ spin = (double)((trigger[0]-trigger[1])/255.0);
+ }
+ omni.computeXY(Y,-X,spin);
+ for(int i = 0; i < 4; i++) {
+ motor[i].setSpeed(omni.wheel[i]);
+ pc.printf("%f//",omni.wheel[i].getOutput());
+ }
+ stick[0] = char(stick[0]);
+ pc.printf("%.3f-%.3f",X,Y);
+ pc.printf("\n\r");
+ }
+}
+*/
diff -r 57b4a0340e93 -r 4a8227afe47b mbed-os.lib --- a/mbed-os.lib Mon Oct 01 12:05:13 2018 +0000 +++ b/mbed-os.lib Mon Oct 01 21:19:50 2018 +0900 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#835fabe557aabc3f8ec5d3fc1163fec757fbbe48 +https://github.com/ARMmbed/mbed-os/#6f338f8915d22737ecb5f3de508584b6fb00749e