春ロボ1班(元F3RC4班+) / PathFollowing-ver10

harurobo-main

PathFollowing.h@3:5da150ef209c, 2018-12-04 (annotated)

Committer:
yuki0701
Date:
Tue Dec 04 13:24:20 2018 +0000
Revision:
3:5da150ef209c
Parent:
2:32362343f091 
a;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:591749f315ac 1 #ifndef HARUROBO2019_PATHFOLLOWING_H
la00noix 0:591749f315ac 2 #define HARUROBO2019_PATHFOLLOWING_H
la00noix 0:591749f315ac 3 #include <EC.h>
la00noix 0:591749f315ac 4
la00noix 0:591749f315ac 5 extern double now_x,now_y,now_angle; //main.cppにこれらの値の読み込みを書くこと
la00noix 0:591749f315ac 6 extern double now_timeQ,now_timeR;
la00noix 0:591749f315ac 7
yuki0701 2:32362343f091 8 void XYRmotorout(int type, double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out);
la00noix 0:591749f315ac 9 //出発地点、目標地点の座標から機体のx軸方向、y軸方向、旋回の出力を算出する関数
la00noix 0:591749f315ac 10 /*
la00noix 0:591749f315ac 11 *1.main分内でx_out,y_out,r_outをdouble型で定義
la00noix 0:591749f315ac 12 *2.XYRmotorout関数使用時は、num番目のx、y座標、num+1番目のx,y座標に加え、
la00noix 0:591749f315ac 13 x_out,y_out,r_outのアドレス（&x_out,&y_out,&r_out）を渡す→（XYRmotorout(座標×４つ,&x_out,&y_out,&r_out)）
la00noix 0:591749f315ac 14 */
la00noix 0:591749f315ac 15
la00noix 0:591749f315ac 16 //次の関数のパラメーターを定義すること
la00noix 0:591749f315ac 17
la00noix 0:591749f315ac 18 void set_p_out(double p);
la00noix 0:591749f315ac 19 //ベクトルABに平行方向の出力値設定関数
la00noix 0:591749f315ac 20
la00noix 0:591749f315ac 21 void q_setPDparam(double q_p,double q_d);
la00noix 0:591749f315ac 22 //ベクトルABに垂直な方向の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:591749f315ac 23
la00noix 0:591749f315ac 24 void r_setPDparam(double r_p,double r_d);
la00noix 0:591749f315ac 25 //機体角度と目標角度の誤差を埋めるPD制御のパラメータ設定関数
la00noix 0:591749f315ac 26
la00noix 0:591749f315ac 27 void set_r_out(double r);
la00noix 0:591749f315ac 28 //旋回時の最大出力値設定関数
la00noix 0:591749f315ac 29
la00noix 0:591749f315ac 30 void set_target_angle(double t);
la00noix 0:591749f315ac 31 //機体目標角度設定関数
la00noix 0:591749f315ac 32
la00noix 0:591749f315ac 33
la00noix 0:591749f315ac 34
la00noix 0:591749f315ac 35 #endif