Soma Takahashi
/
prototype01
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: proto01.cpp
- Revision:
- 6:16a24200ab68
- Parent:
- 5:8dce5092a719
- Child:
- 7:c9707baaf007
diff -r 8dce5092a719 -r 16a24200ab68 proto01.cpp
--- a/proto01.cpp Wed Sep 04 10:01:50 2019 +0000
+++ b/proto01.cpp Mon Sep 23 12:21:36 2019 +0000
@@ -70,25 +70,17 @@
void Proto1::calculate()
{
-// if(targetDis <= (accdis+decdis)){
-// if(nowDis >= (accdis+decdis)){
-// vector = 0;
-// }else{
-// vector = maxspeed - s_vector;
-// }
-// }else{
- if (nowDis < accdis) {
- counter = sqrt(2.0*accsec/maxspeed*fabs(nowDis));
- vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
- } else if (nowDis >= accdis && nowDis < accdis+consdis) {
- vector = maxspeed;
- } else if (nowDis > (accdis+consdis)) {
- counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
- vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed);
- } else {
- vector = 0;
- }
-// }
+ if (nowDis < accdis) {
+ counter = sqrt(2.0*accsec/maxspeed*fabs(nowDis));
+ vector = s_vector + (-1 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / ((2.0*PI)/(maxspeed-s_vector));
+ } else if (nowDis >= accdis && nowDis < accdis+consdis) {
+ vector = maxspeed;
+ } else if (nowDis > (accdis+consdis)) {
+ counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
+ vector = (-1 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed);
+ } else {
+ vector = 0;
+ }
}
double Proto1::getvalue()