NagaokaRoboticsClub_mbedTeam / S-ShapeModelFloat

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

Dependents:   2021NHK_B_main

position_controller.h@2:2c5e4f521390, 2018-08-20 (annotated)

Committer:
takeuchi
Date:
Mon Aug 20 13:54:33 2018 +0900
Revision:
2:2c5e4f521390
Parent:
1:aed2cca33061
Child:
3:65ae32169b33
??????

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