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

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Show/hide line numbers sokuteirinn.h Source File

sokuteirinn.h

00001 int resolution=1024;
00002 
00003 
00004 //測定輪の定義
00005 float radius = 69.56f;   //測定輪半径
00006 Ec EncoderDX(pin_encoderDXA,pin_encoderDXB,NC,resolution,attach_timing);
00007 Ec EncoderDY(pin_encoderDYA,pin_encoderDYB,NC,resolution,attach_timing);
00008 
00009 
00010 //現在距離の取得
00011 int get_now_distanceX()
00012 {
00013     int now_distanceX=(int)(EncoderDX.getCount()/resolution*Pi*radius);
00014     return now_distanceX;
00015 }
00016 int get_now_distanceY()
00017 {
00018     int now_distanceY=(int)(EncoderDY.getCount()/resolution*Pi*radius);
00019     return now_distanceY;
00020 }
00021 int now_distance[2]={get_now_distanceX(),get_now_distanceY()};
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