Kobayashi Akihiro / ActiveCaster

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Dependents:   ActiveCaster_ ActiveCaster_2

DDSScontrol.h

Committer:
e5119053f6
Date:
2022-01-28
Revision:
2:f206311600ee
Parent:
1:5a65fc20f8c2

File content as of revision 2:f206311600ee:

#include "mbed.h"
/*
アクティブキャスタ制御クラス
2022/01/26 A.Kobayashi
*/
#ifndef DDSScontrol_h
#define DDSScontrol_h

class DDSS
{
public:
    DDSS(PinName _pwm_a,PinName _pwm_b,PinName _dir_a,PinName _dir_b);

    void setposi(double _Wp_x,double _Wp_y);
    double Wp_x;
    double Wp_y;

    void control(double _refVx,double _refVy,double _refVz,double _stear_angle);
    double V_x;
    double V_y;
    double omega_wheel;
    double omega_stear;
    double omega_a;
    double omega_b;
    double rpm_a;
    double rpm_b;
    double refVx;
    double refVy;
    double refVz;
    double stear_angle;
    double MD_val_a;
    double MD_val_b;

private:
    PwmOut pwm_a;
    PwmOut pwm_b;
    DigitalOut dir_a;
    DigitalOut dir_b;
};

#endif