![](/media/cache/profiles/IMG_4892.JPG.50x50_q85.jpg)
前のやつです。
Dependencies: FEP OmniPosition PID QEI R1307 TFmini ikarashiMDC linesSnsor omni_wheel
gakuBot/gakubot.cpp
- Committer:
- tanabe2000
- Date:
- 2018-08-05
- Revision:
- 1:af8bee219a3a
- Child:
- 3:8f4c81ad256a
File content as of revision 1:af8bee219a3a:
#include "gakubot.h" GakuBot::GakuBot() : led(LED2), pid(KP,KI,KD,RATE), omni(4), angle1_1(air1_0),angle1_2(air1_1), angle2_1(air2_0),angle2_2(air2_1), con(XBee2TX, XBee2RX, ADDR), wheel1 (PA_11,PA_12,NC, 2048, QEI::X4_ENCODING), RS485control(PA_4), RS485(PC_10,PC_11,115200), debugpc(USBTX,USBRX,115200), wheels( { ikarashiMDC(&RS485control,0,0,SM,&RS485), ikarashiMDC(&RS485control,0,1,SM,&RS485), ikarashiMDC(&RS485control,0,2,SM,&RS485), ikarashiMDC(&RS485control,0,3,SM,&RS485) }), fire( { ikarashiMDC(&RS485control,1,0,SM,&RS485), ikarashiMDC(&RS485control,1,1,SM,&RS485), ikarashiMDC(&RS485control,1,2,SM,&RS485) }) { stick[4] = {0}, speed[4] = {0}, Output_PID = 0; airFlag = 0,airFlag2 = 0,airStatus = 0,airStatus2 = 0; int distance = 970,distanceOfset = 0; omni.wheel[0].setRadian(PI / 4.0 * 1.0); omni.wheel[1].setRadian(PI / 4.0 * 3.0); omni.wheel[2].setRadian(PI / 4.0 * 5.0); omni.wheel[3].setRadian(PI / 4.0 * 7.0); for(int i = 0; i < 4; i++) { wheels[i].braking = true; } for(int i = 0; i < 3; i++) { armMotor[i].braking = true; } pid.setMode(AUTO_MODE); pid.setInputLimits(-100, 1600); pid.setOutputLimits(-1.0, 1.0); // pid.setSetPoint(distance);// 目標値 pid.setBias(0.0); // outputの変わり目 } void GakuBot::botConfirm() { } void GakuBot::controllerMode1() { } void GakuBot::autoMode1() { } void GakuBot::controllMech() { } void GakuBot::autoMech() { }