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?
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 | 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 |