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@3:73625a6c9750, 2017-10-26 (annotated)

Committer:
yuto17320508
Date:
Thu Oct 26 13:10:28 2017 +0000
Revision:
3:73625a6c9750
Parent:
2:0a99389df632 
a

Who changed what in which revision?

UserRevisionLine numberNew 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()};