Akito / trapezoidalMotionCal

台形制御用ライブラリ

Dependents:   kisoken_PenPlotter

trapezoidalMotionCal.h@2:a43e90cb271c, 2017-09-07 (annotated)

Committer:
Akito914
Date:
Thu Sep 07 06:42:08 2017 +0000
Revision:
2:a43e90cb271c
Parent:
0:a7573f3f2207 
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Who changed what in which revision?

UserRevisionLine numberNew 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