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
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Who changed what in which revision?
User | Revision | Line number | New 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 |