37 lines
866 B
C++
37 lines
866 B
C++
#include "robot.h"
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#include "delay.h"
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#include "board.h"
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#include "print.h"
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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()->check_command();
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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()->do_kinmatics();
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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()->calc_odom();
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// 读取imu的值
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Robot::get()->get_imu_data();
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// 检测处理ps2的按键信息
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Robot::get()->check_joystick();
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//// Board::get()->motor_pwm(0, 2479);
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//// Board::get()->motor_pwm(1, -2107);
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//
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// int count_left = Board::get()->get_encoder_count(0);
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// int count_right = Board::get()->get_encoder_count(1);
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//
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// pb_printf("left = %d, right = %d\n", count_left, count_right);
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// delay_ms(10);
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}
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}
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