NagaokaRoboticsClub_mbedTeam / S-ShapeModelFloat

S-curve acceleration / deceleration model generator (using FPU)

Dependents:   2021NHK_B_main

position_controller.h@3:65ae32169b33, 2018-09-15 (annotated)

Committer:
tanabe2000
Date:
Sat Sep 15 05:05:27 2018 +0000
Revision:
3:65ae32169b33
Parent:
2:2c5e4f521390
Child:
4:4cc455e372c2
targetmode????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
UCHITAKE 1:aed2cca33061 1 #ifndef POSITION_CONTROLLER_H
UCHITAKE 1:aed2cca33061 2 #define POSITION_CONTROLLER_H
UCHITAKE 1:aed2cca33061 3
UCHITAKE 1:aed2cca33061 4 #include "mbed.h"
tanabe2000 3:65ae32169b33 5 #define M_PI 3.141592653589793238462643383219502884
UCHITAKE 1:aed2cca33061 6
UCHITAKE 1:aed2cca33061 7 class PositionController {
UCHITAKE 1:aed2cca33061 8 public :
tanabe2000 3:65ae32169b33 9 PositionController(double accDistance_, double decDistance_, double initialVelocity_, double terminalVelocity_, float maxVelocity_);
UCHITAKE 1:aed2cca33061 10
UCHITAKE 1:aed2cca33061 11 void compute(int positionX, int positionY);
tanabe2000 3:65ae32169b33 12 void targetXY(int targetX_, int targetY_);
takeuchi 2:2c5e4f521390 13 double getVelocityX();
takeuchi 2:2c5e4f521390 14 double getVelocityY();
UCHITAKE 1:aed2cca33061 15 private :
UCHITAKE 1:aed2cca33061 16
takeuchi 2:2c5e4f521390 17 double generateSineWave(double x, double initV, double termV, double start, double length);
takeuchi 2:2c5e4f521390 18
takeuchi 2:2c5e4f521390 19 double accDistance;
takeuchi 2:2c5e4f521390 20 double decDistance;
takeuchi 2:2c5e4f521390 21 double accTrue;
takeuchi 2:2c5e4f521390 22 double decTrue;
takeuchi 2:2c5e4f521390 23 double initialVelocity;
takeuchi 2:2c5e4f521390 24 double terminalVelocity;
UCHITAKE 1:aed2cca33061 25 float maxVelocity;
takeuchi 2:2c5e4f521390 26 double target;
takeuchi 2:2c5e4f521390 27 int targetX;
takeuchi 2:2c5e4f521390 28 int targetY;
takeuchi 2:2c5e4f521390 29 double radians;
takeuchi 2:2c5e4f521390 30 double velocity[2];
UCHITAKE 1:aed2cca33061 31
takeuchi 2:2c5e4f521390 32 bool enoughDistance;
UCHITAKE 1:aed2cca33061 33
takeuchi 2:2c5e4f521390 34 double getVelocity(int position);
UCHITAKE 1:aed2cca33061 35 };
UCHITAKE 1:aed2cca33061 36 #endif
takeuchi 2:2c5e4f521390 37