春ロボ1班(元F3RC4班+) / PathFollowing_12_22

harurobo_mbed_undercarriage_sub

PathFollowing.h@6:efe1bc381434, 2018-12-22 (annotated)

Committer:
yuki0701
Date:
Sat Dec 22 02:50:28 2018 +0000
Revision:
6:efe1bc381434
Parent:
5:babe249ce482 
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
yuki0701 6:efe1bc381434 5
la00noix 0:591749f315ac 6 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 7 extern double now_timeQ,now_timeR;
yuki0701 6:efe1bc381434 8 extern double usw_data1,usw_data2,usw_data3,usw_data4;
la00noix 0:591749f315ac 9
yuki0701 5:babe249ce482 10
yuki0701 6:efe1bc381434 11 void UserLoopSetting2();
yuki0701 6:efe1bc381434 12
yuki0701 4:69775231687c 13 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);
yuki0701 5:babe249ce482 14 //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(エンコーダ/ジャイロ使用)
la00noix 0:591749f315ac 15 /*
la00noix 0:591749f315ac 16 *1.main分内でx_out,y_out,r_outをdouble型で定義
la00noix 0:591749f315ac 17 *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 18 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 19 */
la00noix 0:591749f315ac 20
la00noix 0:591749f315ac 21 //次の関数のパラメーターを定義すること
la00noix 0:591749f315ac 22
yuki0701 4:69775231687c 23 //void set_p_out(double p);
la00noix 0:591749f315ac 24 //ベクトルABに平行方向の出力値設定関数
la00noix 0:591749f315ac 25
la00noix 0:591749f315ac 26 void q_setPDparam(double q_p,double q_d);
la00noix 0:591749f315ac 27 //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 28
la00noix 0:591749f315ac 29 void r_setPDparam(double r_p,double r_d);
la00noix 0:591749f315ac 30 //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 31
la00noix 0:591749f315ac 32 void set_r_out(double r);
la00noix 0:591749f315ac 33 //旋回時の最大出力値設定関数
la00noix 0:591749f315ac 34
la00noix 0:591749f315ac 35 void set_target_angle(double t);
la00noix 0:591749f315ac 36 //機体目標角度設定関数
la00noix 0:591749f315ac 37
yuki0701 6:efe1bc381434 38 void calOmega();
yuki0701 6:efe1bc381434 39
yuki0701 6:efe1bc381434 40 void output(double FL,double BL,double BR,double FR);
yuki0701 6:efe1bc381434 41
yuki0701 6:efe1bc381434 42 void base(double FL,double BL,double BR,double FR,double Max);
yuki0701 6:efe1bc381434 43
yuki0701 6:efe1bc381434 44 void calc_xy_enc();
yuki0701 6:efe1bc381434 45
yuki0701 6:efe1bc381434 46 void set_cond(int t, int px, double bx, int py, double by);
yuki0701 6:efe1bc381434 47
yuki0701 6:efe1bc381434 48 void calc_xy_usw(double tgt_angle);
yuki0701 6:efe1bc381434 49
yuki0701 6:efe1bc381434 50 void calc_xy(double tgt_angle, double u, double v);
yuki0701 6:efe1bc381434 51
yuki0701 6:efe1bc381434 52 void purecurve2(int type,double u, double v, //正面を変えずに円弧or楕円を描いて曲がる
yuki0701 6:efe1bc381434 53 double point_x1,double point_y1,
yuki0701 6:efe1bc381434 54 double point_x2,double point_y2,
yuki0701 6:efe1bc381434 55 int theta,
yuki0701 6:efe1bc381434 56 double speed,
yuki0701 6:efe1bc381434 57 double q_p,double q_d,
yuki0701 6:efe1bc381434 58 double r_p,double r_d,
yuki0701 6:efe1bc381434 59 double r_out_max,
yuki0701 6:efe1bc381434 60 double target_angle);
yuki0701 6:efe1bc381434 61
yuki0701 6:efe1bc381434 62 void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム
yuki0701 6:efe1bc381434 63 double x2_point,double y2_point,
yuki0701 6:efe1bc381434 64 double speed1,double speed2,
yuki0701 6:efe1bc381434 65 double q_p,double q_d,
yuki0701 6:efe1bc381434 66 double r_p,double r_d,
yuki0701 6:efe1bc381434 67 double r_out_max,
yuki0701 6:efe1bc381434 68 double target_angle);
yuki0701 6:efe1bc381434 69
yuki0701 6:efe1bc381434 70
la00noix 0:591749f315ac 71
la00noix 0:591749f315ac 72
la00noix 0:591749f315ac 73 #endif