春ロボ 2班 2017
主にオムニです。
Fork of
asimawari
by 
yuto kawamura
Diff: GET_position/sokuteirinn.h
- Revision:
- 2:0a99389df632
- Parent:
- 0:1787ed4e6e61
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GET_position/sokuteirinn.h Wed Oct 25 08:54:30 2017 +0000
@@ -0,0 +1,21 @@
+int resolution=1024;
+
+
+//測定輪の定義
+float radius = 69.56f; //測定輪半径
+Ec EncoderDX(pin_encoderDXA,pin_encoderDXB,NC,resolution,attach_timing);
+Ec EncoderDY(pin_encoderDYA,pin_encoderDYB,NC,resolution,attach_timing);
+
+
+//現在距離の取得
+int get_now_distanceX()
+{
+ int now_distanceX=(int)(EncoderDX.getCount()/resolution*Pi*radius);
+ return now_distanceX;
+}
+int get_now_distanceY()
+{
+ int now_distanceY=(int)(EncoderDY.getCount()/resolution*Pi*radius);
+ return now_distanceY;
+}
+int now_distance[2]={get_now_distanceX(),get_now_distanceY()};
\ No newline at end of file