2022_gorobo_Ateam / gourobo2022_undercarriage_new

2022_Ateam_MOTORprogramをscrp_slaveでメインマイコンからコントローラー状況を読み取れるように改良。 また、モータに0以外のpwmが送られている場合に基盤付属のledが点灯するようにした。

Dependencies:   SBDBT arrc_mbed BNO055

TARGETco.hpp@13:369f4abc1f36, 2022-04-08 (annotated)

Committer:
guesta
Date:
Fri Apr 08 09:14:20 2022 +0000
Revision:
13:369f4abc1f36
Parent:
1:ea880e226e5a 
2022/04/08

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