速度からステップ数を取得する、台形駆動ライブラリ。
Diff: timeBaseTrapezoidalMotionCal.h
- Revision:
- 2:ee75bb401e31
diff -r 15adfb7ee64c -r ee75bb401e31 timeBaseTrapezoidalMotionCal.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/timeBaseTrapezoidalMotionCal.h Sun Jan 07 14:28:36 2018 +0000 @@ -0,0 +1,45 @@ + +#include "mbed.h" + +#ifndef __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__ +#define __TIME_BASE_TRAPEZOIDAL_MOTION_CAL_H__ + + +class timeBaseTrapezoidalMotionCal{ + +public: + + timeBaseTrapezoidalMotionCal(double f_start, double f_stop, double f_max, double a_up, double a_down); + + void setTarg(int32_t targ); + + int32_t calSteps(int32_t time_ms); + +private: + double _f_start; + double _f_stop; + double _f_max; + double _a_up; + double _a_down; + + double step_accel; + double step_decel; + double step_const; + double f_reach; + + double t_accel; + double t_const; + double t_decel; + + int32_t targSteps; + + int shortMode; + int revMode; + +}; + + + + +#endif +