Soma Takahashi / measuring_wheel

2019NHK_teamA_auto_measuring wheel

Dependencies:   QEI R1370MeasuringWheel

measuring_wheel.h@7:e74a1688680d, 2018-09-18 (annotated)

Committer:
tanabe2000
Date:
Tue Sep 18 15:22:01 2018 +0000
Revision:
7:e74a1688680d
Parent:
3:30045028d27e 
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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 7:e74a1688680d 7 #include "pin_config.h"
tanabe2000 7:e74a1688680d 8 #include "SerialMultiByte.h"
tanabe2000 0:505dd5510add 9 #define PI 3.141592653589793
tanabe2000 0:505dd5510add 10
tanabe2000 7:e74a1688680d 11 #define FIRST_HEDDER 0xEE
tanabe2000 7:e74a1688680d 12 #define SECOND_HEDDER 0xFF
tanabe2000 7:e74a1688680d 13 #define BUFFER_SIZE 6
tanabe2000 7:e74a1688680d 14
tanabe2000 0:505dd5510add 15 class MeasuringWheel
tanabe2000 0:505dd5510add 16 {
tanabe2000 0:505dd5510add 17 public :
tanabe2000 0:505dd5510add 18 MeasuringWheel(PinName channel1_1, PinName channel1_2, PinName channel2_1, PinName channel2_2, PinName channel3_1, PinName channel3_2);
tanabe2000 0:505dd5510add 19
tanabe2000 0:505dd5510add 20 bool wheelDiameter(float diameter1, float diameter2, float diameter3);
tanabe2000 0:505dd5510add 21
tanabe2000 0:505dd5510add 22 float getOutX();
tanabe2000 0:505dd5510add 23 float getOutY();
tanabe2000 1:3f01bf4d7e56 24 void transmissionXY();
tanabe2000 2:f34a22b28ac5 25 float getWheel1(),getWheel2(),getWheel3();
tanabe2000 2:f34a22b28ac5 26 float getjyroAngle();
tanabe2000 0:505dd5510add 27
tanabe2000 0:505dd5510add 28 private :
tanabe2000 0:505dd5510add 29 float diameter[3];
tanabe2000 0:505dd5510add 30 float radian[3];
tanabe2000 2:f34a22b28ac5 31 float wheel[3],r,X,Y,subX,subY;
tanabe2000 0:505dd5510add 32 void computeXY();
tanabe2000 3:30045028d27e 33 void threadloop();
tanabe2000 2:f34a22b28ac5 34
tanabe2000 1:3f01bf4d7e56 35
tanabe2000 0:505dd5510add 36
tanabe2000 0:505dd5510add 37 QEI w1;
tanabe2000 0:505dd5510add 38 QEI w2;
tanabe2000 0:505dd5510add 39 QEI w3;
tanabe2000 3:30045028d27e 40 R1370 r1370;
tanabe2000 3:30045028d27e 41 float Cdif, yaw, yawdegree;
tanabe2000 3:30045028d27e 42 Thread thread;
tanabe2000 3:30045028d27e 43 uint16_t X_, Y_,ofsetX, ofsetY, yawdegree_;
tanabe2000 3:30045028d27e 44 char upBitX, upBitY, upBitAngle;
tanabe2000 3:30045028d27e 45 char downBitX,downBitY, downBitAngle;
tanabe2000 0:505dd5510add 46 char get;
tanabe2000 3:30045028d27e 47 void resetposition();
tanabe2000 7:e74a1688680d 48 float beforeYaw, nowYaw;
tanabe2000 7:e74a1688680d 49 int yawMode;
tanabe2000 7:e74a1688680d 50 uint8_t txdata[BUFFER_SIZE];
tanabe2000 7:e74a1688680d 51 SerialMultiByte serial;
tanabe2000 2:f34a22b28ac5 52
tanabe2000 1:3f01bf4d7e56 53
tanabe2000 3:30045028d27e 54
tanabe2000 0:505dd5510add 55 };
tanabe2000 1:3f01bf4d7e56 56
tanabe2000 0:505dd5510add 57 #endif