三浦 颯太 / TrapezoidControl

test

TrapezoidControl.h@0:2e7bf7fce378, 2019-07-16 (annotated)

Committer:
M_souta
Date:
Tue Jul 16 06:46:52 2019 +0000
Revision:
0:2e7bf7fce378
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
M_souta 0:2e7bf7fce378 1 #ifndef TRAPEZOIDCONTROL_H_
M_souta 0:2e7bf7fce378 2 #define TRAPEZOIDCONTROL_H_
M_souta 0:2e7bf7fce378 3
M_souta 0:2e7bf7fce378 4 #include "mbed.h"
M_souta 0:2e7bf7fce378 5 #include <stdio.h>
M_souta 0:2e7bf7fce378 6
M_souta 0:2e7bf7fce378 7 class TrapezoidControl {
M_souta 0:2e7bf7fce378 8 public:
M_souta 0:2e7bf7fce378 9 //いつもの１
M_souta 0:2e7bf7fce378 10 TrapezoidControl();
M_souta 0:2e7bf7fce378 11 //いつもの２
M_souta 0:2e7bf7fce378 12 TrapezoidControl(float maxAcceleration, //最大加速度
M_souta 0:2e7bf7fce378 13 float maxVelocity); //最大速度
M_souta 0:2e7bf7fce378 14 //いつもの３
M_souta 0:2e7bf7fce378 15 TrapezoidControl(float maxAcceleration, //最大加速度
M_souta 0:2e7bf7fce378 16 float maxVelocity, //最大速度
M_souta 0:2e7bf7fce378 17 float strVerocity, //初期速度
M_souta 0:2e7bf7fce378 18 float endVerocity, //終点速度
M_souta 0:2e7bf7fce378 19 float tarDistance); //目標距離
M_souta 0:2e7bf7fce378 20 //最大加速度と最大速度の設定・変更
M_souta 0:2e7bf7fce378 21 void setParameter(float maxAcceleration, float maxVelocity);
M_souta 0:2e7bf7fce378 22 //目標値の設定・変更
M_souta 0:2e7bf7fce378 23 void setDis(float tarDistance, float endVerocity);
M_souta 0:2e7bf7fce378 24 //目標値の初期化
M_souta 0:2e7bf7fce378 25 void reset();
M_souta 0:2e7bf7fce378 26 //台形制御の開始
M_souta 0:2e7bf7fce378 27 void start();
M_souta 0:2e7bf7fce378 28 //速度の取得
M_souta 0:2e7bf7fce378 29 float getVel();
M_souta 0:2e7bf7fce378 30 //距離(理論値)の取得
M_souta 0:2e7bf7fce378 31 float getDis();
M_souta 0:2e7bf7fce378 32 private:
M_souta 0:2e7bf7fce378 33 float maxAcceleration_;
M_souta 0:2e7bf7fce378 34 float maxVelocity_;
M_souta 0:2e7bf7fce378 35 float strVerocity_;
M_souta 0:2e7bf7fce378 36 float endVerocity_;
M_souta 0:2e7bf7fce378 37 float tarDistance_;
M_souta 0:2e7bf7fce378 38 float time;
M_souta 0:2e7bf7fce378 39 Timer sampling;
M_souta 0:2e7bf7fce378 40 };
M_souta 0:2e7bf7fce378 41
M_souta 0:2e7bf7fce378 42 #endif //TRAPEZOIDCONTROL_H_