春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_6

3/6

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

movement/movement.h@9:337fe0747940, 2019-03-06 (annotated)

Committer:
yuki0701
Date:
Wed Mar 06 03:51:08 2019 +0000
Revision:
9:337fe0747940
Parent:
6:26724c287387 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #ifndef HARUROBO2019_MOVEMENT
la00noix 0:c61c6e4775ca 2 #define HARUROBO2019_MOVEMENT
la00noix 0:c61c6e4775ca 3
yuki0701 9:337fe0747940 4 extern char can_ashileddata[2];
la00noix 0:c61c6e4775ca 5
la00noix 0:c61c6e4775ca 6 extern int16_t m1,m2,m3,m4;
la00noix 0:c61c6e4775ca 7
la00noix 0:c61c6e4775ca 8 void UserLoopSetting_sensor();
la00noix 0:c61c6e4775ca 9
la00noix 0:c61c6e4775ca 10 void calOmega();
la00noix 0:c61c6e4775ca 11
la00noix 0:c61c6e4775ca 12 void output(double FL,double BL,double BR,double FR);
la00noix 0:c61c6e4775ca 13
la00noix 0:c61c6e4775ca 14 void base(double FL,double BL,double BR,double FR,double Max);
la00noix 0:c61c6e4775ca 15
la00noix 0:c61c6e4775ca 16 void ashi_led();
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 void calc_gyro();
la00noix 0:c61c6e4775ca 19
la00noix 0:c61c6e4775ca 20 void calc_xy_enc();
la00noix 0:c61c6e4775ca 21
la00noix 0:c61c6e4775ca 22 void set_cond(int t, int px, double bx, int py, double by);
la00noix 0:c61c6e4775ca 23
la00noix 0:c61c6e4775ca 24 void calc_xy_usw(double tgt_angle);
la00noix 0:c61c6e4775ca 25
la00noix 0:c61c6e4775ca 26 void calc_xy(double tgt_angle, double u, double v);
la00noix 0:c61c6e4775ca 27
yuki0701 9:337fe0747940 28 void enc_correction(int x_select,int y_select);
yuki0701 9:337fe0747940 29
la00noix 0:c61c6e4775ca 30 void purecurve(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
la00noix 0:c61c6e4775ca 31 double point_x1,double point_y1,
la00noix 0:c61c6e4775ca 32 double point_x2,double point_y2,
la00noix 0:c61c6e4775ca 33 int theta,
la00noix 0:c61c6e4775ca 34 double speed,
la00noix 0:c61c6e4775ca 35 double q_p,double q_d,
la00noix 0:c61c6e4775ca 36 double r_p,double r_d,
la00noix 0:c61c6e4775ca 37 double r_out_max,
la00noix 0:c61c6e4775ca 38 double target_angle);
la00noix 6:26724c287387 39
la00noix 0:c61c6e4775ca 40 void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム
la00noix 0:c61c6e4775ca 41 double x2_point,double y2_point,
la00noix 0:c61c6e4775ca 42 double speed1,double speed2,
la00noix 0:c61c6e4775ca 43 double q_p,double q_d,
la00noix 0:c61c6e4775ca 44 double r_p,double r_d,
la00noix 0:c61c6e4775ca 45 double r_out_max,
la00noix 0:c61c6e4775ca 46 double target_angle);
la00noix 0:c61c6e4775ca 47
yuki0701 1:3c11e07da92a 48 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
la00noix 0:c61c6e4775ca 49
la00noix 0:c61c6e4775ca 50 #endif