harurobo_mbed_undercarriage_sub
PathFollowing.h@4:69775231687c, 2018-12-05 (annotated)
- Committer:
- yuki0701
- Date:
- Wed Dec 05 07:01:57 2018 +0000
- Revision:
- 4:69775231687c
- Parent:
- 2:32362343f091
- Child:
- 5:babe249ce482
a
Who changed what in which revision?
User | Revision | Line number | New 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 | 4:69775231687c | 8 | void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out,double speed1,double speed2); |
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 | |
yuki0701 | 4:69775231687c | 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 |