hirromu takaki / gyro

hMove and cAngle

Dependents:   moveTest

gyro.h

Committer:
THtakahiro702286
Date:
2019-06-22
Revision:
1:1b01dbd85589
Parent:
0:6371d70a58f2

File content as of revision 1:1b01dbd85589:

#ifndef GYRO_H
#define GYRO_H

#include "mbed.h"

class gyro
{
public:
    gyro(){}
    gyro(int num);
    void setRad(int num,double rad);
    double hMove(double way, int num);
    void setIdeal(double angle);
    double cAngle(double angle);
    double pAngle(double angle, double k);
    void limitPower(double limit);
    void setErrorRange(double range);
    double lFunc(double num,double gain);
//    double slowIdeal(double changed);
private:
    double* wheelRad;
    double ideal;
    double toChange;
    double changed;
    double rVal;
    double _limit;
    double redVal;
    double angled;
    double absLimit;
    double errorRange;
    double rFunc;
//    double stepwise;
//    double rIdeal;
//    bool checkStep;
};
#endif