2022_gorobo_Ateam / 2022_Ateam_MOTORprogram

足回り用プログラム(修正版)

Dependencies:   SBDBT arrc_mbed BNO055

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

Committer:
kazumayamanaka
Date:
Fri Jan 28 15:12:04 2022 +0000
Revision:
5:e189d55ef292
Parent:
1:ea880e226e5a 
program  of wheel;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 0:a1238c4cd105 1 #ifndef TARGET_CO_H
kazumayamanaka 0:a1238c4cd105 2 #define TARGET_CO_H
kazumayamanaka 0:a1238c4cd105 3 #include "mbed.h"
kazumayamanaka 0:a1238c4cd105 4 #include "math.h"
kazumayamanaka 1:ea880e226e5a 5 #define PI 3.1415926535897
kazumayamanaka 0:a1238c4cd105 6
kazumayamanaka 0:a1238c4cd105 7 class TARGETco{
kazumayamanaka 0:a1238c4cd105 8
kazumayamanaka 0:a1238c4cd105 9 public:
kazumayamanaka 0:a1238c4cd105 10 void pass_val(double XPOWER,double YPOWER,double THETA);
kazumayamanaka 0:a1238c4cd105 11 void pass_target(double TARGET);
kazumayamanaka 0:a1238c4cd105 12 double obt_target1();
kazumayamanaka 0:a1238c4cd105 13 double obt_target2();
kazumayamanaka 0:a1238c4cd105 14 double obt_target3();
kazumayamanaka 0:a1238c4cd105 15 double obt_target4();
kazumayamanaka 0:a1238c4cd105 16
kazumayamanaka 0:a1238c4cd105 17 private:
kazumayamanaka 0:a1238c4cd105 18 void cal_angular();
kazumayamanaka 0:a1238c4cd105 19
kazumayamanaka 0:a1238c4cd105 20 double theta;
kazumayamanaka 0:a1238c4cd105 21 double Xpower,Ypower;
kazumayamanaka 0:a1238c4cd105 22 double Xvelocity,Yvelocity;
kazumayamanaka 0:a1238c4cd105 23 double target[4];
kazumayamanaka 0:a1238c4cd105 24
kazumayamanaka 0:a1238c4cd105 25 };
kazumayamanaka 0:a1238c4cd105 26
kazumayamanaka 0:a1238c4cd105 27 #endif
kazumayamanaka 0:a1238c4cd105 28
kazumayamanaka 0:a1238c4cd105 29
kazumayamanaka 0:a1238c4cd105 30