ロボステ6期 / Encoder_

ai

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

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Revision 13:9a21d4def4c6, committed 2019-11-09

Comitter:
aoikoizumi
Date:
Sat Nov 09 06:53:58 2019 +0000
Parent:
12:f261038cb88f
Commit message:
20191109

Changed in this revision

EC.cpp Show annotated file Show diff for this revision Revisions of this file
EC.h Show annotated file Show diff for this revision Revisions of this file 
--- a/EC.cpp	Fri Aug 09 06:27:49 2019 +0000
+++ b/EC.cpp	Sat Nov 09 06:53:58 2019 +0000
@@ -11,6 +11,7 @@
 int Ec::getCount()const
 {
     return count_;
+    //return pre_count_;
 }
 
 double Ec::getRad()const
@@ -22,6 +23,8 @@
 {
     double t=timer_.read();
     omega_=(count_-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
+//    omega_=(getCount()-pre_count_)*2.0f*M_PI/(multiplication_*resolution_*(t-ptw_));
+    //pre_count_=getCount();
     pre_count_=count_;
     ptw_=t;
 }

--- a/EC.h	Fri Aug 09 06:27:49 2019 +0000
+++ b/EC.h	Sat Nov 09 06:53:58 2019 +0000
@@ -97,6 +97,9 @@
     void setResolution(int res);
     ///エンコーダのcountやωをリセットするための関数
     void reset();
+    
+    double time();
+    
     Timer timer_;
 };
 ///@brief increment型エンコーダ用class(1逓倍)