omni wheel library
Dependents: quadOmni_yanagi NHK2017_octopus hayatoShooter
オムニ用のライブラリです。
omni.h@9:a30169882a15, 2017-08-23 (annotated)
- Committer:
- UCHITAKE
- Date:
- Wed Aug 23 07:24:34 2017 +0000
- Revision:
- 9:a30169882a15
- Parent:
- 0:979565e955a5
new version; plz read doc
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
UCHITAKE | 9:a30169882a15 | 1 | /** |
UCHITAKE | 9:a30169882a15 | 2 | * @file omni.h |
UCHITAKE | 9:a30169882a15 | 3 | * @author keitaro takeuchi |
UCHITAKE | 9:a30169882a15 | 4 | * |
UCHITAKE | 9:a30169882a15 | 5 | * @section DESCRIPTION |
UCHITAKE | 9:a30169882a15 | 6 | * 3or4wheels omni libraryfor NHK2017. |
UCHITAKE | 9:a30169882a15 | 7 | */ |
UCHITAKE | 9:a30169882a15 | 8 | #ifndef OMNI_H |
UCHITAKE | 9:a30169882a15 | 9 | #define OMNI_H |
UCHITAKE | 0:979565e955a5 | 10 | |
UCHITAKE | 9:a30169882a15 | 11 | /** |
UCHITAKE | 9:a30169882a15 | 12 | * Includes |
UCHITAKE | 9:a30169882a15 | 13 | */ |
UCHITAKE | 0:979565e955a5 | 14 | #include "mbed.h" |
UCHITAKE | 0:979565e955a5 | 15 | |
UCHITAKE | 9:a30169882a15 | 16 | /** |
UCHITAKE | 9:a30169882a15 | 17 | * Defines |
UCHITAKE | 9:a30169882a15 | 18 | */ |
UCHITAKE | 0:979565e955a5 | 19 | #define M_PI 3.141592653589793 |
UCHITAKE | 0:979565e955a5 | 20 | |
UCHITAKE | 9:a30169882a15 | 21 | /** |
UCHITAKE | 9:a30169882a15 | 22 | * omni wheel |
UCHITAKE | 9:a30169882a15 | 23 | */ |
UCHITAKE | 0:979565e955a5 | 24 | class Omni { |
UCHITAKE | 9:a30169882a15 | 25 | public : |
UCHITAKE | 0:979565e955a5 | 26 | |
UCHITAKE | 9:a30169882a15 | 27 | /** |
UCHITAKE | 9:a30169882a15 | 28 | * Constructor. |
UCHITAKE | 9:a30169882a15 | 29 | * |
UCHITAKE | 9:a30169882a15 | 30 | * @param wheels 車輪数(3or4) |
UCHITAKE | 9:a30169882a15 | 31 | */ |
UCHITAKE | 9:a30169882a15 | 32 | Omni(int wheels); |
UCHITAKE | 9:a30169882a15 | 33 | |
UCHITAKE | 9:a30169882a15 | 34 | /** |
UCHITAKE | 9:a30169882a15 | 35 | * ホイールの付いている角度を設定 |
UCHITAKE | 9:a30169882a15 | 36 | * |
UCHITAKE | 9:a30169882a15 | 37 | * @param rad radian |
UCHITAKE | 9:a30169882a15 | 38 | * @param wheelNumber 番目のホイール |
UCHITAKE | 9:a30169882a15 | 39 | */ |
UCHITAKE | 9:a30169882a15 | 40 | bool setWheelRadian(float rad1, float rad2, float rad3); |
UCHITAKE | 9:a30169882a15 | 41 | bool setWheelRadian(float rad1, float rad2, float rad3, float rad4); |
UCHITAKE | 9:a30169882a15 | 42 | bool setWheelRadian(int wheelNumber, float rad); |
UCHITAKE | 9:a30169882a15 | 43 | |
UCHITAKE | 9:a30169882a15 | 44 | /** |
UCHITAKE | 9:a30169882a15 | 45 | * 位置ベクトル(x, y), 回転量から出力を計算 |
UCHITAKE | 9:a30169882a15 | 46 | * |
UCHITAKE | 9:a30169882a15 | 47 | * @param X(-1 ~ 1) |
UCHITAKE | 9:a30169882a15 | 48 | * @param Y(-1 ~ 1) |
UCHITAKE | 9:a30169882a15 | 49 | * @param moment 回転量(-1 ~ 1) |
UCHITAKE | 9:a30169882a15 | 50 | * |
UCHITAKE | 9:a30169882a15 | 51 | * @return 1...success 0...failure |
UCHITAKE | 9:a30169882a15 | 52 | */ |
UCHITAKE | 9:a30169882a15 | 53 | bool computeXY(float X, float Y, float moment); |
UCHITAKE | 9:a30169882a15 | 54 | |
UCHITAKE | 9:a30169882a15 | 55 | /** |
UCHITAKE | 9:a30169882a15 | 56 | * 半径, 角度radian(r, Θ), 回転量から出力を計算 |
UCHITAKE | 9:a30169882a15 | 57 | * |
UCHITAKE | 9:a30169882a15 | 58 | * @param r 半径(0 ~ 1) |
UCHITAKE | 9:a30169882a15 | 59 | * @param rad radian(-PI ~ PI) |
UCHITAKE | 9:a30169882a15 | 60 | * @param moment 回転量(-1 ~ 1) |
UCHITAKE | 9:a30169882a15 | 61 | * @return 1...success 0...failure |
UCHITAKE | 9:a30169882a15 | 62 | */ |
UCHITAKE | 9:a30169882a15 | 63 | bool computeCircular(float r, float rad, float moment); |
UCHITAKE | 9:a30169882a15 | 64 | |
UCHITAKE | 9:a30169882a15 | 65 | /** |
UCHITAKE | 9:a30169882a15 | 66 | * 出力値を取得 |
UCHITAKE | 9:a30169882a15 | 67 | * |
UCHITAKE | 9:a30169882a15 | 68 | * @param wheelNumber wheel番目のホイールの出力を設定 |
UCHITAKE | 9:a30169882a15 | 69 | * |
UCHITAKE | 9:a30169882a15 | 70 | * @return 出力値 |
UCHITAKE | 9:a30169882a15 | 71 | */ |
UCHITAKE | 9:a30169882a15 | 72 | float getOutput(int wheelNumber); |
UCHITAKE | 9:a30169882a15 | 73 | private : |
UCHITAKE | 9:a30169882a15 | 74 | protected : |
UCHITAKE | 0:979565e955a5 | 75 | int wheels; |
UCHITAKE | 9:a30169882a15 | 76 | float wheel[4]; |
UCHITAKE | 9:a30169882a15 | 77 | float radian[4]; |
UCHITAKE | 0:979565e955a5 | 78 | }; |
UCHITAKE | 0:979565e955a5 | 79 | |
UCHITAKE | 9:a30169882a15 | 80 | #endif//OMNI_H |