Kobayashi Akihiro / ActiveCaster

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Dependents:   ActiveCaster_ ActiveCaster_2

AutoControl.h@2:f206311600ee, 2022-01-28 (annotated)

Committer:
e5119053f6
Date:
Fri Jan 28 15:43:18 2022 +0000
Revision:
2:f206311600ee
Parent:
0:5e4f1e288e2a 
DDSS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
e5119053f6 0:5e4f1e288e2a 1 #ifndef AUTOCONTROL_h
e5119053f6 0:5e4f1e288e2a 2 #define AUTOCONTROL_h
e5119053f6 0:5e4f1e288e2a 3
e5119053f6 0:5e4f1e288e2a 4 #include "PathTracking.h"
e5119053f6 0:5e4f1e288e2a 5 #include "define.h"
e5119053f6 0:5e4f1e288e2a 6 #include "SDclass.h"
e5119053f6 0:5e4f1e288e2a 7
e5119053f6 0:5e4f1e288e2a 8 class AutoControl{
e5119053f6 0:5e4f1e288e2a 9 public:
e5119053f6 0:5e4f1e288e2a 10 AutoControl();
e5119053f6 0:5e4f1e288e2a 11 int init(mySDclass*, int);
e5119053f6 0:5e4f1e288e2a 12 void gPosiInit();
e5119053f6 0:5e4f1e288e2a 13 coords pathTrackingMode(int mode, int state, int nextPhase);
e5119053f6 0:5e4f1e288e2a 14 void calibrationGposi(double tempX, double tempY, double tempZ);
e5119053f6 0:5e4f1e288e2a 15 coords commandMode_vel(double tempX, double tempY, double tempZ);
e5119053f6 0:5e4f1e288e2a 16 void commandMode(int nextPhase, bool next = true);
e5119053f6 0:5e4f1e288e2a 17 coords getRefVel(unsigned int swState = 0);
e5119053f6 0:5e4f1e288e2a 18
e5119053f6 0:5e4f1e288e2a 19 int phase = 0;
e5119053f6 0:5e4f1e288e2a 20
e5119053f6 0:5e4f1e288e2a 21 // mainプログラムとPathTrackingの媒介的な
e5119053f6 0:5e4f1e288e2a 22 double Px(int);
e5119053f6 0:5e4f1e288e2a 23 double Py(int);
e5119053f6 0:5e4f1e288e2a 24 double onx();
e5119053f6 0:5e4f1e288e2a 25 double ony();
e5119053f6 0:5e4f1e288e2a 26 double angle();
e5119053f6 0:5e4f1e288e2a 27 double dist();
e5119053f6 0:5e4f1e288e2a 28 double refKakudo();
e5119053f6 0:5e4f1e288e2a 29 void initSettings();
e5119053f6 0:5e4f1e288e2a 30 void setConvPara(double conv_length, double conv_tnum);
e5119053f6 0:5e4f1e288e2a 31 void setMaxPathnum(int);
e5119053f6 0:5e4f1e288e2a 32 int getPathNum();
e5119053f6 0:5e4f1e288e2a 33
e5119053f6 0:5e4f1e288e2a 34
e5119053f6 0:5e4f1e288e2a 35 private:
e5119053f6 0:5e4f1e288e2a 36 };
e5119053f6 0:5e4f1e288e2a 37
e5119053f6 0:5e4f1e288e2a 38 #endif