omni wheel library
Dependents: quadOmni_yanagi NHK2017_octopus hayatoShooter
オムニ用のライブラリです。
omni.h@4:926be1e5e9a1, 2017-07-04 (annotated)
- Committer:
- UCHITAKE
- Date:
- Tue Jul 04 17:59:29 2017 +0900
- Revision:
- 4:926be1e5e9a1
- Parent:
- 3:413f27170090
- Child:
- 10:4f0b55344c73
fix Reference
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE |
1:add7d2b18162 | 1 | /** |
UCHITAKE |
1:add7d2b18162 | 2 | * @author keitaro takeuchi |
UCHITAKE |
1:add7d2b18162 | 3 | * |
UCHITAKE |
1:add7d2b18162 | 4 | * @section DESCRIPTION |
UCHITAKE |
1:add7d2b18162 | 5 | * 3or4wheels omni libraryfor NHK2017. |
UCHITAKE |
1:add7d2b18162 | 6 | */ |
UCHITAKE |
1:add7d2b18162 | 7 | |
UCHITAKE |
1:add7d2b18162 | 8 | #ifndef OMNI |
UCHITAKE | 0:979565e955a5 | 9 | #define OMNI |
UCHITAKE |
1:add7d2b18162 | 10 | |
UCHITAKE |
1:add7d2b18162 | 11 | /** |
UCHITAKE |
1:add7d2b18162 | 12 | * Includes |
UCHITAKE |
1:add7d2b18162 | 13 | */ |
UCHITAKE | 0:979565e955a5 | 14 | #include "mbed.h" |
UCHITAKE |
1:add7d2b18162 | 15 | |
UCHITAKE |
1:add7d2b18162 | 16 | /** |
UCHITAKE |
1:add7d2b18162 | 17 | * Defines |
UCHITAKE |
1:add7d2b18162 | 18 | */ |
UCHITAKE | 0:979565e955a5 | 19 | #define M_PI 3.141592653589793 |
UCHITAKE |
1:add7d2b18162 | 20 | |
UCHITAKE |
1:add7d2b18162 | 21 | /** |
UCHITAKE |
1:add7d2b18162 | 22 | * omni wheel |
UCHITAKE |
1:add7d2b18162 | 23 | */ |
UCHITAKE | 0:979565e955a5 | 24 | class Omni { |
UCHITAKE |
1:add7d2b18162 | 25 | public: |
UCHITAKE |
1:add7d2b18162 | 26 | |
UCHITAKE |
1:add7d2b18162 | 27 | /** |
UCHITAKE |
1:add7d2b18162 | 28 | * Constructor. |
UCHITAKE |
1:add7d2b18162 | 29 | * |
UCHITAKE |
1:add7d2b18162 | 30 | * @param wheels 車輪数(3or4) |
UCHITAKE |
1:add7d2b18162 | 31 | * @param initDegree 正面から車輪の角度 |
UCHITAKE |
1:add7d2b18162 | 32 | */ |
UCHITAKE | 0:979565e955a5 | 33 | Omni(int wheels, double initDegree); |
UCHITAKE |
1:add7d2b18162 | 34 | |
UCHITAKE |
1:add7d2b18162 | 35 | /** |
UCHITAKE |
1:add7d2b18162 | 36 | * 位置ベクトル(x, y), 回転量から出力を計算 |
UCHITAKE |
1:add7d2b18162 | 37 | * |
UCHITAKE |
1:add7d2b18162 | 38 | * @param parallelVector[] [x, y](-1 ~ 1) |
UCHITAKE |
1:add7d2b18162 | 39 | * @param moment 回転量(-1 ~ 1) |
UCHITAKE |
1:add7d2b18162 | 40 | * |
UCHITAKE |
1:add7d2b18162 | 41 | * @return 1...success 0...failure |
UCHITAKE |
1:add7d2b18162 | 42 | */ |
UCHITAKE |
1:add7d2b18162 | 43 | bool computeXY(double parallelVector[], double moment); |
UCHITAKE |
1:add7d2b18162 | 44 | |
UCHITAKE |
1:add7d2b18162 | 45 | /** |
UCHITAKE |
1:add7d2b18162 | 46 | * 角度, 大きさ(θ, volume), 回転量から出力を計算 |
UCHITAKE |
1:add7d2b18162 | 47 | * |
UCHITAKE |
1:add7d2b18162 | 48 | * @param parallelVector[] [θ(degree), volume] volume...(-1 ~ 1) |
UCHITAKE |
1:add7d2b18162 | 49 | * @param moment 回転量(-1 ~ 1) |
UCHITAKE |
1:add7d2b18162 | 50 | * @return 1...success 0...failure |
UCHITAKE |
1:add7d2b18162 | 51 | */ |
UCHITAKE |
1:add7d2b18162 | 52 | bool computePolar(double parallelVector[], double moment); |
UCHITAKE |
1:add7d2b18162 | 53 | |
UCHITAKE |
1:add7d2b18162 | 54 | /** |
UCHITAKE |
1:add7d2b18162 | 55 | * 全ての出力を0にする |
UCHITAKE |
1:add7d2b18162 | 56 | * |
UCHITAKE |
1:add7d2b18162 | 57 | * @return 1...success 0...failure |
UCHITAKE |
1:add7d2b18162 | 58 | */ |
UCHITAKE | 0:979565e955a5 | 59 | bool stop(); |
UCHITAKE |
1:add7d2b18162 | 60 | |
UCHITAKE |
1:add7d2b18162 | 61 | /** |
UCHITAKE |
1:add7d2b18162 | 62 | * ホイール数を設定 |
UCHITAKE |
1:add7d2b18162 | 63 | * |
UCHITAKE |
1:add7d2b18162 | 64 | * @param wheel ホイール数 |
UCHITAKE |
1:add7d2b18162 | 65 | */ |
UCHITAKE |
1:add7d2b18162 | 66 | void setWheels(int wheel); |
UCHITAKE |
1:add7d2b18162 | 67 | |
UCHITAKE |
1:add7d2b18162 | 68 | /** |
UCHITAKE |
1:add7d2b18162 | 69 | * 正面から車輪の角度を設定 |
UCHITAKE |
1:add7d2b18162 | 70 | * |
UCHITAKE |
1:add7d2b18162 | 71 | * @param degree 正面から車輪の角度 |
UCHITAKE |
1:add7d2b18162 | 72 | */ |
UCHITAKE | 0:979565e955a5 | 73 | void setInitDegree(double degree); |
UCHITAKE |
1:add7d2b18162 | 74 | |
UCHITAKE |
1:add7d2b18162 | 75 | /** |
UCHITAKE |
1:add7d2b18162 | 76 | * 出力値を取得 |
UCHITAKE |
4:926be1e5e9a1 | 77 | * |
UCHITAKE |
3:413f27170090 | 78 | * @param wheel wheel番目のホイールの出力を設定 |
UCHITAKE |
4:926be1e5e9a1 | 79 | * |
UCHITAKE |
1:add7d2b18162 | 80 | * @return 出力値 |
UCHITAKE |
1:add7d2b18162 | 81 | */ |
UCHITAKE | 0:979565e955a5 | 82 | double getOutput(int wheel); |
UCHITAKE | 0:979565e955a5 | 83 | |
UCHITAKE | 0:979565e955a5 | 84 | private: |
UCHITAKE | 0:979565e955a5 | 85 | int wheels; |
UCHITAKE | 0:979565e955a5 | 86 | double initDegree; |
UCHITAKE | 0:979565e955a5 | 87 | double wheel[4]; |
UCHITAKE | 0:979565e955a5 | 88 | }; |
UCHITAKE | 0:979565e955a5 | 89 | |
UCHITAKE |
1:add7d2b18162 | 90 | #endif /* OMNI */ |