2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

Odmetry.hpp@5:e189d55ef292, 2022-01-28 (annotated)

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 5:e189d55ef292 1 #ifndef ODMETRY_H
kazumayamanaka 5:e189d55ef292 2 #define ODMETRY_H
kazumayamanaka 5:e189d55ef292 3
kazumayamanaka 5:e189d55ef292 4 #include "mbed.h"
kazumayamanaka 5:e189d55ef292 5 #define Co (108 * 3.1415926535897) / 512
kazumayamanaka 5:e189d55ef292 6 #define PI 3.1415926535897
kazumayamanaka 5:e189d55ef292 7
kazumayamanaka 5:e189d55ef292 8 class Odmetry{
kazumayamanaka 5:e189d55ef292 9 public:
kazumayamanaka 5:e189d55ef292 10 Odmetry();
kazumayamanaka 5:e189d55ef292 11 void pass_pulse(double PULSE1,double PULSE2,double PULSE3,double PULSE4);
kazumayamanaka 5:e189d55ef292 12 void pass_angle(double THETA);
kazumayamanaka 5:e189d55ef292 13 void print_Pos();
kazumayamanaka 5:e189d55ef292 14
kazumayamanaka 5:e189d55ef292 15 private:
kazumayamanaka 5:e189d55ef292 16 void Angular();
kazumayamanaka 5:e189d55ef292 17 void CalcPosition();
kazumayamanaka 5:e189d55ef292 18 void CalcSpd();
kazumayamanaka 5:e189d55ef292 19 void transform();
kazumayamanaka 5:e189d55ef292 20
kazumayamanaka 5:e189d55ef292 21 double Radius;
kazumayamanaka 5:e189d55ef292 22 double Wradius;
kazumayamanaka 5:e189d55ef292 23 double Omega[4];
kazumayamanaka 5:e189d55ef292 24 double spd[4];
kazumayamanaka 5:e189d55ef292 25 double pulse_a[4],pulse_b[4],diff[4];
kazumayamanaka 5:e189d55ef292 26 double Xspd,Yspd;
kazumayamanaka 5:e189d55ef292 27 double Xpower,Ypower;
kazumayamanaka 5:e189d55ef292 28 double XPos,YPos,Theta;
kazumayamanaka 5:e189d55ef292 29 double dt;
kazumayamanaka 5:e189d55ef292 30 };
kazumayamanaka 5:e189d55ef292 31
kazumayamanaka 5:e189d55ef292 32 #endif
kazumayamanaka 5:e189d55ef292 33