涼太郎 中村 / Locate

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Dependents:   4thcomp 6th33222_copy

Fork of Locate by Tk A

Files at this revision

API Documentation at this revision

Revision 9:69fe7b8350c6, committed 2016-09-16

Comitter:
choutin
Date:
Fri Sep 16 08:48:12 2016 +0000
Parent:
8:ecd49a9ee2ee
Child:
10:d88fe87720d2
Commit message:
a

Changed in this revision

locate.cpp Show annotated file Show diff for this revision Revisions of this file
locate.h Show annotated file Show diff for this revision Revisions of this file 
--- a/locate.cpp	Sun Sep 11 12:05:24 2016 +0000
+++ b/locate.cpp	Fri Sep 16 08:48:12 2016 +0000
@@ -36,11 +36,11 @@
     
     //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
     //use PB6 PB7 = Nucleo D7 D8
-    EncoderInit(&encoder1, &timer1, TIM4, 0xffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder1, &timer1, TIM4, 0xffff, TIM_ENCODERMODE_TI1);
 
     //counting on both A&B inputs, 4 ticks per cycle,  16-bit count
     //use PA0 PA1 = Nucleo A0 A1
-    EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI12);
+    EncoderInit(&encoder2, &timer2, TIM2, 0xffff, TIM_ENCODERMODE_TI1);
     
     teamcolor = team;
 }

--- a/locate.h	Sun Sep 11 12:05:24 2016 +0000
+++ b/locate.h	Fri Sep 16 08:48:12 2016 +0000
@@ -9,12 +9,12 @@
 #define OUTERRING_D     140             //外輪間距離(mm)
 #define INNERRING_D     136             //内輪間距離(mm)
 #define PI              3.14159         //π
-#define RESOLUSION      400             //P/R(分解能)
+#define RESOLUSION      200             //P/R(分解能)
 #define DIAMETER        31.8            //タイヤの直径(mm)
-#define ROUND_HOSEI     1.038            //角度のズレを補正
- 
-// エンコーダの１ステップあたりの距離(mm)
-#define LOCATE_STEP     (DIAMETER*PI / RESOLUSION)                 
+#define ROUND_HOSEI     1.038            //角度のズレを補正.038
+#define HOSEI           1.00
+// エンコーダの１ステップあたりの距離;(mm)
+#define LOCATE_STEP     (DIAMETER*PI / RESOLUSION * HOSEI)                 
 //タイヤ間距離(mm) 
 #define TIRE_DISTANCE   ((OUTERRING_D + INNERRING_D) / 2)          
 //機体が１回転するために必要なステップ数の”逆数”