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catchrobo2022 mbed LPC1768 メインプログラム

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Show/hide line numbers transform.h Source File

transform.h

00001 #pragma once
00002 
00003 class Transform
00004 {
00005 private:
00006     /* data */
00007 public:
00008     Transform(/* args */);
00009     ~Transform();
00010     //// robot座標系での[m] -> motor回転角度[rad]に変換. gripperは入力をそのまま返す
00011     static float m2rad(int motor_id, float position)
00012     {
00013         const float pi = 3.141592653589;
00014         const float pulley_radius = 0.002 * 54.0 / (2.0 * pi);
00015         float ret = position / pulley_radius;
00016         if (motor_id == 1)
00017         {
00018             ret *= 0.5;
00019         }
00020         return ret;
00021     }
00022 };
00023 
00024 Transform::Transform(/* args */)
00025 {
00026 }
00027 
00028 Transform::~Transform()
00029 {
00030 }
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