hirromu takaki / states

手動bのほぼ全部

Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

states.h@3:2b909340be04, 2019-07-11 (annotated)

Committer:
THtakahiro702286
Date:
Thu Jul 11 09:19:10 2019 +0000
Revision:
3:2b909340be04
Parent:
1:38dd7564c15f
Child:
4:eafd5a0c3351
start work  together neko

Who changed what in which revision?

UserRevisionLine numberNew contents of line
THtakahiro702286 0:8d012d469eb4 1 #ifndef STATES_H
THtakahiro702286 0:8d012d469eb4 2 #define STATES_H
THtakahiro702286 0:8d012d469eb4 3
THtakahiro702286 0:8d012d469eb4 4 #include "mbed.h"
THtakahiro702286 0:8d012d469eb4 5 #include "PID.h"
THtakahiro702286 0:8d012d469eb4 6 #include "pin_config.h"
THtakahiro702286 0:8d012d469eb4 7 #include "controller.h"
THtakahiro702286 0:8d012d469eb4 8 #include "R1370.h"
THtakahiro702286 0:8d012d469eb4 9 #include "wheelUnit.h"
THtakahiro702286 0:8d012d469eb4 10
THtakahiro702286 0:8d012d469eb4 11 //#define PI 3.14159
THtakahiro702286 0:8d012d469eb4 12
THtakahiro702286 0:8d012d469eb4 13 /*角度制御*/
THtakahiro702286 0:8d012d469eb4 14 //#define angleKP 5.5 //速さ
THtakahiro702286 0:8d012d469eb4 15 //#define angleKI 5.0 //揺れすぎたら大きく、動かな過ぎたら小さく
THtakahiro702286 0:8d012d469eb4 16 //#define angleKD 0.0000005 //ずらしたときに戻る力　がでかすぎたら小さく、小さすぎたら大きく
THtakahiro702286 0:8d012d469eb4 17
THtakahiro702286 0:8d012d469eb4 18 /*角度情報*/
THtakahiro702286 0:8d012d469eb4 19 #define front 0
THtakahiro702286 0:8d012d469eb4 20 #define right 90
THtakahiro702286 0:8d012d469eb4 21 #define back 180
THtakahiro702286 0:8d012d469eb4 22 #define left -90
THtakahiro702286 0:8d012d469eb4 23
THtakahiro702286 0:8d012d469eb4 24
THtakahiro702286 0:8d012d469eb4 25 class States
THtakahiro702286 0:8d012d469eb4 26 {
THtakahiro702286 0:8d012d469eb4 27 public:
THtakahiro702286 0:8d012d469eb4 28 States();
THtakahiro702286 0:8d012d469eb4 29 void tellAngle();
THtakahiro702286 0:8d012d469eb4 30 void tellPad();
THtakahiro702286 0:8d012d469eb4 31 void move();
THtakahiro702286 0:8d012d469eb4 32 private:
THtakahiro702286 1:38dd7564c15f 33 /*非常停止*/
THtakahiro702286 1:38dd7564c15f 34 DigitalOut emStop;
THtakahiro702286 1:38dd7564c15f 35
THtakahiro702286 0:8d012d469eb4 36 /*モーター系*/
THtakahiro702286 0:8d012d469eb4 37 WheelUnit omni;
THtakahiro702286 0:8d012d469eb4 38 Serial serial;
THtakahiro702286 0:8d012d469eb4 39
THtakahiro702286 0:8d012d469eb4 40 /*角度制御*/
THtakahiro702286 0:8d012d469eb4 41 R1370 gyro;
THtakahiro702286 0:8d012d469eb4 42 PID anglePID;
THtakahiro702286 0:8d012d469eb4 43 float norm;
THtakahiro702286 0:8d012d469eb4 44 float nowAngle;
THtakahiro702286 0:8d012d469eb4 45 int idealAngle;
THtakahiro702286 0:8d012d469eb4 46 float deviation;
THtakahiro702286 0:8d012d469eb4 47 float turnPower;
THtakahiro702286 0:8d012d469eb4 48 int state;
THtakahiro702286 0:8d012d469eb4 49
THtakahiro702286 0:8d012d469eb4 50 /*コントローラ系*/
THtakahiro702286 0:8d012d469eb4 51 Controller pad;
THtakahiro702286 0:8d012d469eb4 52 float stickRad;
THtakahiro702286 0:8d012d469eb4 53 float stickNorm;
THtakahiro702286 0:8d012d469eb4 54 float X;
THtakahiro702286 0:8d012d469eb4 55 float Y;
THtakahiro702286 3:2b909340be04 56 int b[13],b2[13],b3[13];
THtakahiro702286 0:8d012d469eb4 57 };
THtakahiro702286 0:8d012d469eb4 58 #endif