春ロボ 2班 2017
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asimawari
主にオムニです。
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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