速度からステップ数を取得する、台形駆動ライブラリ。
trapezoidalMotionCal.h@0:a7573f3f2207, 2017-08-03 (annotated)
- Committer:
- Akito914
- Date:
- Thu Aug 03 06:50:03 2017 +0000
- Revision:
- 0:a7573f3f2207
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Akito914 | 0:a7573f3f2207 | 1 | |
Akito914 | 0:a7573f3f2207 | 2 | #include "mbed.h" |
Akito914 | 0:a7573f3f2207 | 3 | |
Akito914 | 0:a7573f3f2207 | 4 | #ifndef __TRAPEZOIDAL_MOTION_CAL_H__ |
Akito914 | 0:a7573f3f2207 | 5 | #define __TRAPEZOIDAL_MOTION_CAL_H__ |
Akito914 | 0:a7573f3f2207 | 6 | |
Akito914 | 0:a7573f3f2207 | 7 | |
Akito914 | 0:a7573f3f2207 | 8 | class trapezoidalMotionCal{ |
Akito914 | 0:a7573f3f2207 | 9 | |
Akito914 | 0:a7573f3f2207 | 10 | public: |
Akito914 | 0:a7573f3f2207 | 11 | |
Akito914 | 0:a7573f3f2207 | 12 | trapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down); |
Akito914 | 0:a7573f3f2207 | 13 | |
Akito914 | 0:a7573f3f2207 | 14 | void setTarg(int32_t targ); |
Akito914 | 0:a7573f3f2207 | 15 | |
Akito914 | 0:a7573f3f2207 | 16 | uint32_t calStepDelay(int32_t steps); |
Akito914 | 0:a7573f3f2207 | 17 | |
Akito914 | 0:a7573f3f2207 | 18 | private: |
Akito914 | 0:a7573f3f2207 | 19 | double _f_start; |
Akito914 | 0:a7573f3f2207 | 20 | double _f_stop; |
Akito914 | 0:a7573f3f2207 | 21 | double _f_max; |
Akito914 | 0:a7573f3f2207 | 22 | double _a_up; |
Akito914 | 0:a7573f3f2207 | 23 | double _a_down; |
Akito914 | 0:a7573f3f2207 | 24 | |
Akito914 | 0:a7573f3f2207 | 25 | double step_accel; |
Akito914 | 0:a7573f3f2207 | 26 | double step_decel; |
Akito914 | 0:a7573f3f2207 | 27 | double step_const; |
Akito914 | 0:a7573f3f2207 | 28 | double f_reach; |
Akito914 | 0:a7573f3f2207 | 29 | |
Akito914 | 0:a7573f3f2207 | 30 | int32_t targSteps; |
Akito914 | 0:a7573f3f2207 | 31 | |
Akito914 | 0:a7573f3f2207 | 32 | int shortMode; |
Akito914 | 0:a7573f3f2207 | 33 | int revMode; |
Akito914 | 0:a7573f3f2207 | 34 | |
Akito914 | 0:a7573f3f2207 | 35 | }; |
Akito914 | 0:a7573f3f2207 | 36 | |
Akito914 | 0:a7573f3f2207 | 37 | |
Akito914 | 0:a7573f3f2207 | 38 | |
Akito914 | 0:a7573f3f2207 | 39 | |
Akito914 | 0:a7573f3f2207 | 40 | #endif |
Akito914 | 0:a7573f3f2207 | 41 |