Revision 0:2e7bf7fce378, committed 2019-07-16

Comitter:

M_souta

Date:

Tue Jul 16 06:46:52 2019 +0000

Commit message:

test

Changed in this revision

diff -r 000000000000 -r 2e7bf7fce378 TrapezoidControl.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TrapezoidControl.cpp	Tue Jul 16 06:46:52 2019 +0000
@@ -0,0 +1,14 @@
+#include "TrapezoidControl.h"
+
+#include "mbed.h"
+#include <stdio.h>
+
+void TrapezoidControl::reset(void) {
+    sampling.reset();
+    time = 0;
+    
+}
+
+void TrapezoidControl::start(void) {
+    sampling.start();
+}
\ No newline at end of file

diff -r 000000000000 -r 2e7bf7fce378 TrapezoidControl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TrapezoidControl.h	Tue Jul 16 06:46:52 2019 +0000
@@ -0,0 +1,42 @@
+#ifndef TRAPEZOIDCONTROL_H_
+#define TRAPEZOIDCONTROL_H_
+
+#include "mbed.h"
+#include <stdio.h>
+
+class TrapezoidControl {
+    public:
+        //いつもの１
+        TrapezoidControl();
+        //いつもの２
+        TrapezoidControl(float maxAcceleration, //最大加速度
+                         float maxVelocity);    //最大速度
+        //いつもの３    
+        TrapezoidControl(float maxAcceleration, //最大加速度
+                         float maxVelocity,     //最大速度
+                         float strVerocity,     //初期速度
+                         float endVerocity,     //終点速度
+                         float tarDistance);    //目標距離
+        //最大加速度と最大速度の設定・変更
+        void setParameter(float maxAcceleration, float maxVelocity);
+        //目標値の設定・変更
+        void setDis(float tarDistance, float endVerocity);
+        //目標値の初期化
+        void reset();
+        //台形制御の開始
+        void start();
+        //速度の取得
+        float getVel();
+        //距離(理論値)の取得
+        float getDis();
+    private:
+        float maxAcceleration_;
+        float maxVelocity_;
+        float strVerocity_;
+        float endVerocity_;
+        float tarDistance_;
+        float time;
+        Timer sampling;
+};
+
+#endif //TRAPEZOIDCONTROL_H_
\ No newline at end of file