2015_robocon_bteam / MachineState

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MachineState.h@0:3b748c4d0906, 2015-09-16 (annotated)

Committer:
DeguNaoto
Date:
Wed Sep 16 08:04:03 2015 +0000
Revision:
0:3b748c4d0906
?? ver 0.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 0:3b748c4d0906 1 #ifndef MACHINE_STATE_H
DeguNaoto 0:3b748c4d0906 2 #define MACHINE_STATE_H
DeguNaoto 0:3b748c4d0906 3
DeguNaoto 0:3b748c4d0906 4 /**
DeguNaoto 0:3b748c4d0906 5 * Includes
DeguNaoto 0:3b748c4d0906 6 */
DeguNaoto 0:3b748c4d0906 7 #include "mbed.h"
DeguNaoto 0:3b748c4d0906 8 #include "QEI.h"
DeguNaoto 0:3b748c4d0906 9
DeguNaoto 0:3b748c4d0906 10 /**
DeguNaoto 0:3b748c4d0906 11 * Defines
DeguNaoto 0:3b748c4d0906 12 */
DeguNaoto 0:3b748c4d0906 13 #define PI 3.14159265359
DeguNaoto 0:3b748c4d0906 14
DeguNaoto 0:3b748c4d0906 15 class MachineState {
DeguNaoto 0:3b748c4d0906 16
DeguNaoto 0:3b748c4d0906 17 public:
DeguNaoto 0:3b748c4d0906 18 MachineState( double wheelRadius, double halfTread, double pulsePerRev,
DeguNaoto 0:3b748c4d0906 19 PinName rightChannelA, PinName rightChannelB, PinName leftChannelB, PinName leftChannelA, double PERIOD,
DeguNaoto 0:3b748c4d0906 20 double originY = 0.0, double originY = 0.0, double originSita = 0.0 );
DeguNaoto 0:3b748c4d0906 21 void reset(void);
DeguNaoto 0:3b748c4d0906 22 double getX(void);
DeguNaoto 0:3b748c4d0906 23 double getY(void);
DeguNaoto 0:3b748c4d0906 24 double getSita(void);
DeguNaoto 0:3b748c4d0906 25 double getVelocity(void);
DeguNaoto 0:3b748c4d0906 26 void mesureState(void);
DeguNaoto 0:3b748c4d0906 27
DeguNaoto 0:3b748c4d0906 28 private:
DeguNaoto 0:3b748c4d0906 29
DeguNaoto 0:3b748c4d0906 30 QEI EncoderRight;
DeguNaoto 0:3b748c4d0906 31 QEI EncoderLeft;
DeguNaoto 0:3b748c4d0906 32
DeguNaoto 0:3b748c4d0906 33 double PulsesRight_;
DeguNaoto 0:3b748c4d0906 34 double PulsesLeft_;
DeguNaoto 0:3b748c4d0906 35 double PrefPulsesRight_;
DeguNaoto 0:3b748c4d0906 36 double PrefPulsesLeft_;
DeguNaoto 0:3b748c4d0906 37 double dsita_;
DeguNaoto 0:3b748c4d0906 38 double dx_;
DeguNaoto 0:3b748c4d0906 39 double dy_;
DeguNaoto 0:3b748c4d0906 40 double dlr_;
DeguNaoto 0:3b748c4d0906 41 double dll_;
DeguNaoto 0:3b748c4d0906 42 double vr_;
DeguNaoto 0:3b748c4d0906 43 double vl_;
DeguNaoto 0:3b748c4d0906 44 double halfTread_;
DeguNaoto 0:3b748c4d0906 45 double PERIOD_;
DeguNaoto 0:3b748c4d0906 46 double pulsePerRev_;
DeguNaoto 0:3b748c4d0906 47 double wheelRadius_;
DeguNaoto 0:3b748c4d0906 48 volatile double x_;
DeguNaoto 0:3b748c4d0906 49 volatile double y_;
DeguNaoto 0:3b748c4d0906 50 volatile double sita_;
DeguNaoto 0:3b748c4d0906 51 volatile double velocity_;
DeguNaoto 0:3b748c4d0906 52 };
DeguNaoto 0:3b748c4d0906 53
DeguNaoto 0:3b748c4d0906 54
DeguNaoto 0:3b748c4d0906 55 #endif