Akito / timeBaseTrapezoidalMotionCal

速度からステップ数を取得する、台形駆動ライブラリ。

timeBaseTrapezoidalMotionCal.h@2:ee75bb401e31, 2018-01-07 (annotated)

Committer:
Akito914
Date:
Sun Jan 07 14:28:36 2018 +0000
Revision:
2:ee75bb401e31
????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Akito914 2:ee75bb401e31 1
Akito914 2:ee75bb401e31 2 #include "mbed.h"
Akito914 2:ee75bb401e31 3
Akito914 2:ee75bb401e31 4 #ifndef __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__
Akito914 2:ee75bb401e31 5 #define __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__
Akito914 2:ee75bb401e31 6
Akito914 2:ee75bb401e31 7
Akito914 2:ee75bb401e31 8 class timeBaseTrapezoidalMotionCal{
Akito914 2:ee75bb401e31 9
Akito914 2:ee75bb401e31 10 public:
Akito914 2:ee75bb401e31 11
Akito914 2:ee75bb401e31 12 timeBaseTrapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down);
Akito914 2:ee75bb401e31 13
Akito914 2:ee75bb401e31 14 void setTarg(int32_t targ);
Akito914 2:ee75bb401e31 15
Akito914 2:ee75bb401e31 16 int32_t calSteps(int32_t time_ms);
Akito914 2:ee75bb401e31 17
Akito914 2:ee75bb401e31 18 private:
Akito914 2:ee75bb401e31 19 double _f_start;
Akito914 2:ee75bb401e31 20 double _f_stop;
Akito914 2:ee75bb401e31 21 double _f_max;
Akito914 2:ee75bb401e31 22 double _a_up;
Akito914 2:ee75bb401e31 23 double _a_down;
Akito914 2:ee75bb401e31 24
Akito914 2:ee75bb401e31 25 double step_accel;
Akito914 2:ee75bb401e31 26 double step_decel;
Akito914 2:ee75bb401e31 27 double step_const;
Akito914 2:ee75bb401e31 28 double f_reach;
Akito914 2:ee75bb401e31 29
Akito914 2:ee75bb401e31 30 double t_accel;
Akito914 2:ee75bb401e31 31 double t_const;
Akito914 2:ee75bb401e31 32 double t_decel;
Akito914 2:ee75bb401e31 33
Akito914 2:ee75bb401e31 34 int32_t targSteps;
Akito914 2:ee75bb401e31 35
Akito914 2:ee75bb401e31 36 int shortMode;
Akito914 2:ee75bb401e31 37 int revMode;
Akito914 2:ee75bb401e31 38
Akito914 2:ee75bb401e31 39 };
Akito914 2:ee75bb401e31 40
Akito914 2:ee75bb401e31 41
Akito914 2:ee75bb401e31 42
Akito914 2:ee75bb401e31 43
Akito914 2:ee75bb401e31 44 #endif
Akito914 2:ee75bb401e31 45