ロボステ6期 / SpeedController___2_25

Dependencies:   Encoder

Dependents:   NHK2020-m2-2-ros_2_25

Files at this revision

API Documentation at this revision

Revision 11:b3e2ec75a4d7, committed 2020-02-25

Comitter:
yuki0701
Date:
Tue Feb 25 01:24:31 2020 +0000
Parent:
7:b1708b8819f1
Commit message:
a

Changed in this revision

SpeedController.cpp Show annotated file Show diff for this revision Revisions of this file
SpeedController.h Show annotated file Show diff for this revision Revisions of this file 
diff -r b1708b8819f1 -r b3e2ec75a4d7 SpeedController.cpp
--- a/SpeedController.cpp	Sat Aug 10 05:36:57 2019 +0000
+++ b/SpeedController.cpp	Tue Feb 25 01:24:31 2020 +0000
@@ -26,11 +26,11 @@
 }
 
 
-void SpeedControl::Sc(double target_omega)        //スカンジウムじゃないよ
+void SpeedControl::Sc(double target_omega,int flag,double omega)        //スカンジウムじゃないよ
 {
     double t=ec_->timer_.read();
-    ec_->calOmega();
-    double omega=ec_->getOmega();
+    //ec_->calOmega();
+    //double omega=ec_->getOmega();
     double diff=target_omega-omega;
     double pid=Kp_*diff+Kd_*(diff-pre_diff)/(t-ptsc_);
     double duty;

diff -r b1708b8819f1 -r b3e2ec75a4d7 SpeedController.h
--- a/SpeedController.h	Sat Aug 10 05:36:57 2019 +0000
+++ b/SpeedController.h	Tue Feb 25 01:24:31 2020 +0000
@@ -146,7 +146,7 @@
     *
     *   （どんなプログラムにも言えるが、）そのためこのようなprintfの頻度を少なくさせるような工夫が必要になる。
     */
-    void Sc(double target_omega);
+    void Sc(double target_omega,int flag,double omega);
     /** モーター停止用関数
     *   dutyを0にする
     */