forked from logzhan/RobotHardware-UESTC
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
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/******************** (C) COPYRIGHT 2024 GeBot *********************************
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* File Name : main.c
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* Current Version : V1.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com
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* Date of Issued : 2024.01.23 zhanli: Create.
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* Comments : Gebot硬件驱动
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********************************************************************************/
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#include "robot.h"
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/**----------------------------------------------------------------------
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* Function : main
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* Description : Gebot入口函数
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* Author : zhanli&719901725@qq.com
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* Date : 2023/04/22 zhanli
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*---------------------------------------------------------------------**/
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int main(void)
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{
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//初始化
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Robot::get()->Init();
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while (1) {
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// 检测接收的命令
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Robot::get()->CheckCommand();
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// 运动解算 把上位机下发的机器人的速度（线速度角速度）转为各个轮子的速度
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Robot::get()->DoKinmatics();
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// 根据轮子的编码器计算得到机器人的里程计
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Robot::get()->CalcOdom();
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// 读取imu的值
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Robot::get()->GetImuData();
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// 检测处理ps2的按键信息
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Robot::get()->CheckJoystick();
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}
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}
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