ロボステ6期 / Mbed 2 deprecated control_UC

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Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

movement/movement.h@1:d66ba60fa9a9, 2019-06-15 (annotated)

Committer:
yuki0701
Date:
Sat Jun 15 04:46:41 2019 +0000
Revision:
1:d66ba60fa9a9
Parent:
0:0727df1dfa3e 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 0:0727df1dfa3e 1 #ifndef NHK2020_MOVEMENT
yuki0701 0:0727df1dfa3e 2 #define NHK2020_MOVEMENT
yuki0701 0:0727df1dfa3e 3
yuki0701 0:0727df1dfa3e 4 extern char can_ashileddata[2];
yuki0701 0:0727df1dfa3e 5
yuki0701 0:0727df1dfa3e 6 extern int16_t m1,m2,m3,m4;
yuki0701 0:0727df1dfa3e 7
yuki0701 0:0727df1dfa3e 8 extern int flag;
yuki0701 0:0727df1dfa3e 9
yuki0701 0:0727df1dfa3e 10 void UserLoopSetting_sensor();
yuki0701 0:0727df1dfa3e 11
yuki0701 0:0727df1dfa3e 12 void UserLoopSetting_enc();
yuki0701 0:0727df1dfa3e 13
yuki0701 0:0727df1dfa3e 14 void calOmega();
yuki0701 0:0727df1dfa3e 15
yuki0701 0:0727df1dfa3e 16 void output(double FL,double BL,double BR,double FR);
yuki0701 0:0727df1dfa3e 17
yuki0701 0:0727df1dfa3e 18 void base(double FL,double BL,double BR,double FR,double Max);
yuki0701 0:0727df1dfa3e 19
yuki0701 0:0727df1dfa3e 20 void ashi_led();
yuki0701 0:0727df1dfa3e 21
yuki0701 0:0727df1dfa3e 22 void calc_gyro();
yuki0701 0:0727df1dfa3e 23
yuki0701 0:0727df1dfa3e 24 void calc_xy_enc();
yuki0701 0:0727df1dfa3e 25
yuki0701 0:0727df1dfa3e 26 void set_cond(int t, int px, double bx, int py, double by);
yuki0701 0:0727df1dfa3e 27
yuki0701 0:0727df1dfa3e 28 void calc_xy_usw(double tgt_angle);
yuki0701 0:0727df1dfa3e 29
yuki0701 0:0727df1dfa3e 30 void calc_xy(double tgt_angle, double u, double v);
yuki0701 0:0727df1dfa3e 31
yuki0701 0:0727df1dfa3e 32 void enc_correction(int x_select,int y_select);
yuki0701 0:0727df1dfa3e 33
yuki0701 0:0727df1dfa3e 34 void ellipse_curve(int type,double u, double v, //正面を変えずに円弧or楕円を描いて曲がる
yuki0701 1:d66ba60fa9a9 35 double point_x1,double point_y1,
yuki0701 1:d66ba60fa9a9 36 double point_x2,double point_y2,
yuki0701 1:d66ba60fa9a9 37 int theta,
yuki0701 1:d66ba60fa9a9 38 double speed,
yuki0701 0:0727df1dfa3e 39 double q_p,double q_d,
yuki0701 0:0727df1dfa3e 40 double r_p,double r_d,
yuki0701 0:0727df1dfa3e 41 double r_out_max,
yuki0701 0:0727df1dfa3e 42 double target_angle);
yuki0701 0:0727df1dfa3e 43
yuki0701 1:d66ba60fa9a9 44
yuki0701 1:d66ba60fa9a9 45 double spline_base(int i,int k,double t,double nv[]);
yuki0701 1:d66ba60fa9a9 46
yuki0701 1:d66ba60fa9a9 47 void spline_curve(double st_x,double st_y,//スプライン曲線を描いて曲線移動
yuki0701 1:d66ba60fa9a9 48 double end_x,double end_y,
yuki0701 1:d66ba60fa9a9 49 double cont1_x,double cont1_y,
yuki0701 1:d66ba60fa9a9 50 double cont2_x,double cont2_y,
yuki0701 1:d66ba60fa9a9 51 int num);
yuki0701 1:d66ba60fa9a9 52
yuki0701 1:d66ba60fa9a9 53 void straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム
yuki0701 1:d66ba60fa9a9 54 double x2_point,double y2_point,
yuki0701 1:d66ba60fa9a9 55 double speed1,double speed2,
yuki0701 1:d66ba60fa9a9 56 double q_p,double q_d,
yuki0701 1:d66ba60fa9a9 57 double r_p,double r_d,
yuki0701 1:d66ba60fa9a9 58 double r_out_max,
yuki0701 1:d66ba60fa9a9 59 double target_angle);
yuki0701 1:d66ba60fa9a9 60
yuki0701 0:0727df1dfa3e 61 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
yuki0701 0:0727df1dfa3e 62
yuki0701 0:0727df1dfa3e 63 #endif