DDSScontrol.h

00001 #include "mbed.h"
00002 /*
00003 アクティブキャスタ制御クラス
00004 2022/01/26 A.Kobayashi
00005 */
00006 #ifndef DDSScontrol_h
00007 #define DDSScontrol_h
00008 
00009 class DDSS
00010 {
00011 public:
00012     DDSS(PinName _pwm_a,PinName _pwm_b,PinName _dir_a,PinName _dir_b);
00013 
00014     void setposi(double _Wp_x,double _Wp_y);
00015     double Wp_x;
00016     double Wp_y;
00017 
00018     void control(double _refVx,double _refVy,double _refVz,double _stear_angle);
00019     double V_x;
00020     double V_y;
00021     double omega_wheel;
00022     double omega_stear;
00023     double omega_a;
00024     double omega_b;
00025     double rpm_a;
00026     double rpm_b;
00027     double refVx;
00028     double refVy;
00029     double refVz;
00030     double stear_angle;
00031     double MD_val_a;
00032     double MD_val_b;
00033 
00034 private:
00035     PwmOut pwm_a;
00036     PwmOut pwm_b;
00037     DigitalOut dir_a;
00038     DigitalOut dir_b;
00039 };
00040 
00041 #endif