harurobo_mbed_undercarriage_sub
Diff: PathFollowing.h
- Revision:
- 4:69775231687c
- Parent:
- 2:32362343f091
- Child:
- 5:babe249ce482
diff -r 5da150ef209c -r 69775231687c PathFollowing.h --- a/PathFollowing.h Tue Dec 04 13:24:20 2018 +0000 +++ b/PathFollowing.h Wed Dec 05 07:01:57 2018 +0000 @@ -5,7 +5,7 @@ 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 extern double now_timeQ,now_timeR; -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); +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); //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 /* *1.main分内でx_out,y_out,r_outをdouble型で定義 @@ -15,7 +15,7 @@ //次の関数のパラメーターを定義すること -void set_p_out(double p); +//void set_p_out(double p); //ベクトルABに平行方向の出力値設定関数 void q_setPDparam(double q_p,double q_d);