Kanta Takasu
/
YUKA_ak_home_GD_REF
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 8:0497ad6e03a4, committed 2021-12-19
- Comitter:
- tks1
- Date:
- Sun Dec 19 20:24:17 2021 +0000
- Parent:
- 7:df29c4de6522
- Commit message:
- p con
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sun Dec 19 18:48:16 2021 +0000
+++ b/main.cpp Sun Dec 19 20:24:17 2021 +0000
@@ -74,7 +74,7 @@
void set_MODE_T(void);
void vel_stop(void);
-void vel_forward(int);
+void vel_forward(int,int,int);
void vel_backward(int);
void vel_right(int);
void vel_left(int);
@@ -224,7 +224,10 @@
set_ACC(ACC_B);//加速度設定
set_DEC(ACC_C);//減速度設定
set_MODE_V();//速度制御モード送信
- vel_forward(rpm);//前進速度指令
+ dist1 = get_cm_n(u1, 5);
+ dist2 = get_cm_n(u2, 5);
+
+ vel_forward(rpm,dist1,dist2);//前進速度指令
}
}else if(state_1 == 2){//前進からの帰還フェーズ
if(ActPos > -3000){
@@ -302,12 +305,13 @@
}
}
-void vel_forward(int rpm){
+void vel_forward(int rpmA,int dis1,int dis2){
//速度を指定
- sendTgtVel(1,rpm*(-1));
- sendTgtVel(2,rpm*(-1));
- sendTgtVel(3,rpm);
- sendTgtVel(4,rpm);
+ int robot_angle = ((dis1 - dis2)*50);
+ sendTgtVel(1,rpmA*(-1)+robot_angle);
+ sendTgtVel(2,rpmA*(-1)+robot_angle);
+ sendTgtVel(3,rpmA+robot_angle);
+ sendTgtVel(4,rpmA+robot_angle);
//指令値を送信
for(int i=1;i<= 4;i++){
sendCtrlEN(i);