hirromu takaki / gyro

hMove and cAngle

Dependents:   moveTest

gyro.h@1:1b01dbd85589, 2019-06-22 (annotated)

Committer:
THtakahiro702286
Date:
Sat Jun 22 00:38:40 2019 +0000
Revision:
1:1b01dbd85589
Parent:
0:6371d70a58f2 
2019 NHK B manual machine designated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:6371d70a58f2 1 #ifndef GYRO_H
THtakahiro702286 0:6371d70a58f2 2 #define GYRO_H
THtakahiro702286 0:6371d70a58f2 3
THtakahiro702286 0:6371d70a58f2 4 #include "mbed.h"
THtakahiro702286 0:6371d70a58f2 5
THtakahiro702286 0:6371d70a58f2 6 class gyro
THtakahiro702286 0:6371d70a58f2 7 {
THtakahiro702286 0:6371d70a58f2 8 public:
THtakahiro702286 0:6371d70a58f2 9 gyro(){}
THtakahiro702286 0:6371d70a58f2 10 gyro(int num);
THtakahiro702286 0:6371d70a58f2 11 void setRad(int num,double rad);
THtakahiro702286 0:6371d70a58f2 12 double hMove(double way, int num);
THtakahiro702286 0:6371d70a58f2 13 void setIdeal(double angle);
THtakahiro702286 0:6371d70a58f2 14 double cAngle(double angle);
THtakahiro702286 1:1b01dbd85589 15 double pAngle(double angle, double k);
THtakahiro702286 1:1b01dbd85589 16 void limitPower(double limit);
THtakahiro702286 1:1b01dbd85589 17 void setErrorRange(double range);
THtakahiro702286 1:1b01dbd85589 18 double lFunc(double num,double gain);
THtakahiro702286 1:1b01dbd85589 19 // double slowIdeal(double changed);
THtakahiro702286 0:6371d70a58f2 20 private:
THtakahiro702286 0:6371d70a58f2 21 double* wheelRad;
THtakahiro702286 0:6371d70a58f2 22 double ideal;
THtakahiro702286 0:6371d70a58f2 23 double toChange;
THtakahiro702286 0:6371d70a58f2 24 double changed;
THtakahiro702286 1:1b01dbd85589 25 double rVal;
THtakahiro702286 1:1b01dbd85589 26 double _limit;
THtakahiro702286 1:1b01dbd85589 27 double redVal;
THtakahiro702286 1:1b01dbd85589 28 double angled;
THtakahiro702286 1:1b01dbd85589 29 double absLimit;
THtakahiro702286 1:1b01dbd85589 30 double errorRange;
THtakahiro702286 1:1b01dbd85589 31 double rFunc;
THtakahiro702286 1:1b01dbd85589 32 // double stepwise;
THtakahiro702286 1:1b01dbd85589 33 // double rIdeal;
THtakahiro702286 1:1b01dbd85589 34 // bool checkStep;
THtakahiro702286 0:6371d70a58f2 35 };
THtakahiro702286 0:6371d70a58f2 36 #endif