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@1:ea880e226e5a, 2022-01-20 (annotated)
- Committer:
- kazumayamanaka
- Date:
- Thu Jan 20 07:27:53 2022 +0000
- Revision:
- 1:ea880e226e5a
- Parent:
- 0:a1238c4cd105
2022_ateam_motor_program
Who changed what in which revision?
User | Revision | Line number | New 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 |