春ロボ 2班 2017
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asimawari
主にオムニです。
Fork of asimawari by
GET_position/sokuteirinn.h@2:0a99389df632, 2017-10-25 (annotated)
- Committer:
- yuto17320508
- Date:
- Wed Oct 25 08:54:30 2017 +0000
- Revision:
- 2:0a99389df632
- Parent:
- sokuteirinn.h@0:1787ed4e6e61
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuto17320508 | 0:1787ed4e6e61 | 1 | int resolution=1024; |
yuto17320508 | 0:1787ed4e6e61 | 2 | |
yuto17320508 | 0:1787ed4e6e61 | 3 | |
yuto17320508 | 0:1787ed4e6e61 | 4 | //測定輪の定義 |
yuto17320508 | 0:1787ed4e6e61 | 5 | float radius = 69.56f; //測定輪半径 |
yuto17320508 | 0:1787ed4e6e61 | 6 | Ec EncoderDX(pin_encoderDXA,pin_encoderDXB,NC,resolution,attach_timing); |
yuto17320508 | 0:1787ed4e6e61 | 7 | Ec EncoderDY(pin_encoderDYA,pin_encoderDYB,NC,resolution,attach_timing); |
yuto17320508 | 0:1787ed4e6e61 | 8 | |
yuto17320508 | 0:1787ed4e6e61 | 9 | |
yuto17320508 | 0:1787ed4e6e61 | 10 | //現在距離の取得 |
yuto17320508 | 0:1787ed4e6e61 | 11 | int get_now_distanceX() |
yuto17320508 | 0:1787ed4e6e61 | 12 | { |
yuto17320508 | 0:1787ed4e6e61 | 13 | int now_distanceX=(int)(EncoderDX.getCount()/resolution*Pi*radius); |
yuto17320508 | 0:1787ed4e6e61 | 14 | return now_distanceX; |
yuto17320508 | 0:1787ed4e6e61 | 15 | } |
yuto17320508 | 0:1787ed4e6e61 | 16 | int get_now_distanceY() |
yuto17320508 | 0:1787ed4e6e61 | 17 | { |
yuto17320508 | 0:1787ed4e6e61 | 18 | int now_distanceY=(int)(EncoderDY.getCount()/resolution*Pi*radius); |
yuto17320508 | 0:1787ed4e6e61 | 19 | return now_distanceY; |
yuto17320508 | 0:1787ed4e6e61 | 20 | } |
yuto17320508 | 0:1787ed4e6e61 | 21 | int now_distance[2]={get_now_distanceX(),get_now_distanceY()}; |