ロボステ6期 / Encoder_

ai

Dependents:   ball_snatch NHK2020-arm-sub NHK2020-arm-sub NHK2020-arm-sub2 ... more

Diff: EC.cpp

Revision:
10:ad0f13db7b92
Parent:
8:17aff8f21d19
Child:
11:acbbd742df47
--- a/EC.cpp	Wed Jul 24 17:13:34 2019 +0000
+++ b/EC.cpp	Wed Jul 24 17:21:00 2019 +0000
@@ -13,6 +13,11 @@
     return count_;
 }
 
+double Ec::getAngle()const
+{
+    return count_*2.0f*M_PI/(multiplication_*resolution_);
+}
+
 void Ec::calOmega()
 {
     double t=timer_.read();
@@ -25,7 +30,8 @@
 {
     return omega_;
 }
-void Ec::setResolution(int res){
+void Ec::setResolution(int res)
+{
     resolution_=res;
 }