NagaokaRoboticsClub_mbedTeam / S-ShapeModelFloat

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

Dependents:   2021NHK_B_main

Diff: position_controller.h

Revision:
1:aed2cca33061
Child:
2:2c5e4f521390
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/position_controller.h	Fri Aug 03 03:57:44 2018 +0000
@@ -0,0 +1,27 @@
+#ifndef POSITION_CONTROLLER_H
+#define POSITION_CONTROLLER_H
+
+#include "mbed.h"
+
+class PositionController {
+    public :
+        PositionController(int accDist, float maxV, int targetX, int targetY);
+
+        void compute(int positionX, int positionY);
+        float getVelocityX();
+        float getVelocityY();
+    private :
+
+        int accelerationDistance;
+        float maxVelocity;
+        double targetDistance;
+        int targetDistanceX;
+        int targetDistanceY;
+        double targetRadians;
+        double maxJerk;
+
+        float velocity[2];
+
+        float generateVelocity(int position);
+};
+#endif