ロボステ6期 / SpeedController2_25

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Dependencies:   Encoder

Diff: SpeedController.h

Revision:
7:b1708b8819f1
Parent:
6:d110c276aa5a
Child:
10:daf0e763bf35
Child:
11:1f6b35a255f2
--- a/SpeedController.h	Sat Aug 10 05:20:49 2019 +0000
+++ b/SpeedController.h	Sat Aug 10 05:36:57 2019 +0000
@@ -2,8 +2,8 @@
 #define _INCLUDE_SPEEDCONTROLLER_H_
 
 /**
-* @brief モーターの速度制御用プログラム
-* @details モーターのdutyと角速度がほぼ比例することを利用して出力を決定し、PID制御で補正する
+*   @brief モーターの速度制御用プログラム
+*   @details モーターのdutyと角速度がほぼ比例することを利用して出力を決定し、PID制御で補正する
 **/
 class SpeedControl
 {
@@ -48,6 +48,7 @@
     *
     *   @senction SAMPLE
     *   @code
+    *   Ec4multi EC(p11,p12,500);
     *   SpeedControl motor(p21,p22,50,EC);
     *   int main(){
     *       motor.period_us(50);
@@ -65,6 +66,7 @@
     *
     *  @senction SAMPLE
     *  @code
+    *  Ec4multi EC(p11,p12,500);
     *  SpeedControl motor(p21,p22,50,EC);
     *  int main(){
     *      motor.setPDparam(0.1,0.001);
@@ -82,6 +84,7 @@
     *
     *  @senction SAMPLE
     *  @code
+    *  Ec4multi EC(p11,p12,500);
     *  SpeedControl motor(p21,p22,50,EC);
     *  int main(){
     *      motor.setEquation(0.02,0.0001,-0.02,0.0001);
@@ -95,6 +98,7 @@
     *
     *  @senction SAMPLE
     *  @code
+    *  Ec4multi EC(p11,p12,500);
     *  SpeedControl motor(p21,p22,50,EC);
     *  int main(){
     *      motor.setDutyLimit(0.5);    //duty比の上限を0.5に設定