春ロボ 2班 2017 / Mbed 2 deprecated asimawari

主にオムニです。

Dependencies:   EC mbed HCSR04

Fork of asimawari by yuto kawamura

GET_position/sokuteirinn.h

Committer:
yuto17320508
Date:
2017-10-26
Revision:
3:73625a6c9750
Parent:
2:0a99389df632

File content as of revision 3:73625a6c9750:

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()};