2019NHK_teamA_auto_measuring wheel
Dependencies: QEI R1370MeasuringWheel
measuring_wheel.h@2:f34a22b28ac5, 2018-07-31 (annotated)
- Committer:
- tanabe2000
- Date:
- Tue Jul 31 08:30:51 2018 +0000
- Revision:
- 2:f34a22b28ac5
- Parent:
- 1:3f01bf4d7e56
- Child:
- 3:30045028d27e
ver2.1
Who changed what in which revision?
User | Revision | Line number | New 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 | 2:f34a22b28ac5 | 6 | //#include "r1307.h" |
tanabe2000 | 2:f34a22b28ac5 | 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 | 2:f34a22b28ac5 | 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 | 2:f34a22b28ac5 | 30 | |
tanabe2000 | 1:3f01bf4d7e56 | 31 | |
tanabe2000 | 0:505dd5510add | 32 | |
tanabe2000 | 0:505dd5510add | 33 | QEI w1; |
tanabe2000 | 0:505dd5510add | 34 | QEI w2; |
tanabe2000 | 0:505dd5510add | 35 | QEI w3; |
tanabe2000 | 2:f34a22b28ac5 | 36 | // R1307 r1370; |
tanabe2000 | 2:f34a22b28ac5 | 37 | float Cdif, yaw; |
tanabe2000 | 0:505dd5510add | 38 | Ticker ticker; |
tanabe2000 | 0:505dd5510add | 39 | uint16_t X_, Y_,ofsetX, ofsetY; |
tanabe2000 | 0:505dd5510add | 40 | char upBitX, upBitY; |
tanabe2000 | 0:505dd5510add | 41 | char downBitX,downBitY; |
tanabe2000 | 0:505dd5510add | 42 | Serial mainMicon; |
tanabe2000 | 0:505dd5510add | 43 | char get; |
tanabe2000 | 0:505dd5510add | 44 | DigitalOut led; |
tanabe2000 | 2:f34a22b28ac5 | 45 | void resetpisithon(); |
tanabe2000 | 2:f34a22b28ac5 | 46 | // void rawAngle(); |
tanabe2000 | 2:f34a22b28ac5 | 47 | |
tanabe2000 | 1:3f01bf4d7e56 | 48 | |
tanabe2000 | 0:505dd5510add | 49 | }; |
tanabe2000 | 1:3f01bf4d7e56 | 50 | |
tanabe2000 | 0:505dd5510add | 51 | #endif |