Diff: main.cpp

Revision:

2:f1e26c8084f2

Parent:

0:1b4780d434ab

Child:

3:7c29db78fa24

--- a/main.cpp	Thu Oct 27 05:41:49 2022 +0000
+++ b/main.cpp	Thu Oct 27 07:10:24 2022 +0000
@@ -18,16 +18,17 @@
 Serial pc(USBTX,USBRX);
 
 //速度制御のPID 前3つが係数なのでこれを調整 P→D→Iの順に調整
-CalPID speed_pidA(0.000,0.0,0.000,DELTA_T,DUTY_MAX);
-CalPID speed_pidB(0.00,0.0,0.000,DELTA_T,DUTY_MAX);
-CalPID speed_pidC(0.00,0.0,0.000,DELTA_T,DUTY_MAX);
-CalPID speed_pidD(0.00,0.0,0.000,DELTA_T,DUTY_MAX);
+CalPID speed_pidA(0.01,0.0,0.000,DELTA_T,DUTY_MAX);
+CalPID speed_pidB(0.01,0.0,0.000,DELTA_T,DUTY_MAX);
+CalPID speed_pidC(0.01,0.0,0.000,DELTA_T,DUTY_MAX);
+CalPID speed_pidD(0.01,0.0,0.000,DELTA_T,DUTY_MAX);
 //角度制御のPID 今回は不要だけどMotorContorollerの引数なので消さずに放置してください
 CalPID angle_omega_pid(0.0,0.0,0.0,DELTA_T,OMEGA_MAX);
 //エンコーダ（A層,B層,分解能）
 //モーター（正転,逆転,PWM周期,エンコーダ,CALPIDの角速度PID,角度PID)
 /////////////R1(f446re)////////////////
 
+/*
 //タイヤA
 Ec2multi ecA(PC_6,PC_8,RESOLUTION);
 MotorController motorA(PA_8,PA_9,50,ecA,speed_pidA,angle_omega_pid);
@@ -40,6 +41,21 @@
 //タイヤD
 Ec2multi ecD(PC_2,PC_3,RESOLUTION);  
 MotorController motorD(PB_4,PB_5,50,ecD,speed_pidC,angle_omega_pid);
+*/
+
+
+//タイヤA
+Ec2multi ecA(PC_3,PC_2,RESOLUTION);
+MotorController motorA(PA_8,PA_9,50,ecA,speed_pidA,angle_omega_pid);
+//タイヤB
+Ec2multi ecB(PC_12,PC_10,RESOLUTION); 
+MotorController motorB(PB_1,PA_11,50,ecB,speed_pidB,angle_omega_pid);
+//タイヤC
+Ec2multi ecC(PC_6,PC_8,RESOLUTION);  
+MotorController motorC(PA_0,PA_1,50,ecC,speed_pidC,angle_omega_pid);
+//タイヤD
+Ec2multi ecD(PB_14,PB_15,RESOLUTION);  
+MotorController motorD(PB_4,PB_5,50,ecD,speed_pidC,angle_omega_pid);
 
 
 ////////////////R2(f303k8)///////////////////////