Soma Takahashi / measuring_wheel

2019NHK_teamA_auto_measuring wheel

Dependencies:   QEI R1370MeasuringWheel

measuring_wheel.h@3:30045028d27e, 2018-08-27 (annotated)

Committer:
tanabe2000
Date:
Mon Aug 27 04:45:39 2018 +0000
Revision:
3:30045028d27e
Parent:
2:f34a22b28ac5
Child:
7:e74a1688680d
Child:
8:8ea251946b2a
ver2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tanabe2000 0:505dd5510add 1 #ifndef MEASURING_WHEEL_H
tanabe2000 0:505dd5510add 2 #define MEASURING_WHEEL_H
tanabe2000 0:505dd5510add 3
tanabe2000 0:505dd5510add 4 #include "mbed.h"
tanabe2000 0:505dd5510add 5 #include "QEI.h"
tanabe2000 3:30045028d27e 6 #include "R1370.h"
tanabe2000 3:30045028d27e 7 //#include "OmniPosition.h"
tanabe2000 0:505dd5510add 8 #define PI 3.141592653589793
tanabe2000 0:505dd5510add 9
tanabe2000 0:505dd5510add 10 class MeasuringWheel
tanabe2000 0:505dd5510add 11 {
tanabe2000 0:505dd5510add 12 public :
tanabe2000 0:505dd5510add 13 MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2);
tanabe2000 0:505dd5510add 14 // bool
tanabe2000 0:505dd5510add 15
tanabe2000 0:505dd5510add 16 bool wheelDiameter(float diameter1, float diameter2, float diameter3);
tanabe2000 0:505dd5510add 17
tanabe2000 0:505dd5510add 18 float getOutX();
tanabe2000 0:505dd5510add 19 float getOutY();
tanabe2000 1:3f01bf4d7e56 20 void transmissionXY();
tanabe2000 2:f34a22b28ac5 21 float getWheel1(),getWheel2(),getWheel3();
tanabe2000 2:f34a22b28ac5 22 float getjyroAngle();
tanabe2000 3:30045028d27e 23 // OmniPosition r1370;
tanabe2000 0:505dd5510add 24
tanabe2000 0:505dd5510add 25 private :
tanabe2000 0:505dd5510add 26 float diameter[3];
tanabe2000 0:505dd5510add 27 float radian[3];
tanabe2000 2:f34a22b28ac5 28 float wheel[3],r,X,Y,subX,subY;
tanabe2000 0:505dd5510add 29 void computeXY();
tanabe2000 3:30045028d27e 30 void threadloop();
tanabe2000 2:f34a22b28ac5 31
tanabe2000 1:3f01bf4d7e56 32
tanabe2000 0:505dd5510add 33
tanabe2000 0:505dd5510add 34 QEI w1;
tanabe2000 0:505dd5510add 35 QEI w2;
tanabe2000 0:505dd5510add 36 QEI w3;
tanabe2000 3:30045028d27e 37 R1370 r1370;
tanabe2000 3:30045028d27e 38 float Cdif, yaw, yawdegree;
tanabe2000 3:30045028d27e 39 // Ticker ticker;
tanabe2000 3:30045028d27e 40 Thread thread;
tanabe2000 3:30045028d27e 41 uint16_t X_, Y_,ofsetX, ofsetY, yawdegree_;
tanabe2000 3:30045028d27e 42 char upBitX, upBitY, upBitAngle;
tanabe2000 3:30045028d27e 43 char downBitX,downBitY, downBitAngle;
tanabe2000 0:505dd5510add 44 Serial mainMicon;
tanabe2000 0:505dd5510add 45 char get;
tanabe2000 0:505dd5510add 46 DigitalOut led;
tanabe2000 3:30045028d27e 47 void resetposition();
tanabe2000 3:30045028d27e 48
tanabe2000 3:30045028d27e 49 // unsigned char upBitangle down;
tanabe2000 2:f34a22b28ac5 50 // void rawAngle();
tanabe2000 2:f34a22b28ac5 51
tanabe2000 1:3f01bf4d7e56 52
tanabe2000 3:30045028d27e 53
tanabe2000 0:505dd5510add 54 };
tanabe2000 1:3f01bf4d7e56 55
tanabe2000 0:505dd5510add 56 #endif