2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

DUALSHOCKco.cpp@5:e189d55ef292, 2022-01-28 (annotated)

Committer:
kazumayamanaka
Date:
Fri Jan 28 15:12:04 2022 +0000
Revision:
5:e189d55ef292
Parent:
0:a1238c4cd105 
program  of wheel;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 0:a1238c4cd105 1 #include "DUALSHOCKco.hpp"
kazumayamanaka 0:a1238c4cd105 2
kazumayamanaka 0:a1238c4cd105 3 void DUALSHOCKco::pass_val(double RSX,double RSY,double R2AN,double L2AN){
kazumayamanaka 0:a1238c4cd105 4 rsx = RSX;
kazumayamanaka 0:a1238c4cd105 5 rsy = RSY;
kazumayamanaka 0:a1238c4cd105 6 r2an = R2AN;
kazumayamanaka 0:a1238c4cd105 7 l2an = L2AN;
kazumayamanaka 0:a1238c4cd105 8 }
kazumayamanaka 0:a1238c4cd105 9
kazumayamanaka 0:a1238c4cd105 10 bool DUALSHOCKco::cal_input(){
kazumayamanaka 0:a1238c4cd105 11 if(r2an == 0&&l2an == 0){
kazumayamanaka 0:a1238c4cd105 12 Xval = (rsx - RS_normal) * 400 / RS_normal;
kazumayamanaka 0:a1238c4cd105 13 Yval = ((RS_MAX - rsy) - RS_normal + 1) * 400 / RS_normal;
kazumayamanaka 0:a1238c4cd105 14 return true;
kazumayamanaka 0:a1238c4cd105 15 }
kazumayamanaka 0:a1238c4cd105 16 else{
kazumayamanaka 0:a1238c4cd105 17 if(r2an != 0){
kazumayamanaka 0:a1238c4cd105 18 Xval = r2an * 400 / RL_MAX;
kazumayamanaka 0:a1238c4cd105 19 }
kazumayamanaka 0:a1238c4cd105 20 else{
kazumayamanaka 0:a1238c4cd105 21 Xval = -l2an * 400 / RL_MAX;
kazumayamanaka 0:a1238c4cd105 22 }
kazumayamanaka 0:a1238c4cd105 23 return false;
kazumayamanaka 0:a1238c4cd105 24 }
kazumayamanaka 0:a1238c4cd105 25 }
kazumayamanaka 0:a1238c4cd105 26
kazumayamanaka 0:a1238c4cd105 27 double DUALSHOCKco::obt_X(){ return Xval; }
kazumayamanaka 0:a1238c4cd105 28
kazumayamanaka 0:a1238c4cd105 29 double DUALSHOCKco::obt_Y(){ return Yval; }