ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of 17robo_Practice1 by
accelerator.h
- Committer:
- echo_piyo
- Date:
- 2017-06-30
- Revision:
- 3:9ef929639c4a
File content as of revision 3:9ef929639c4a:
class Accel { public : void setup(float Acceleration, float time) { a = Acceleration*time; v = 0; } float duty(float target) { if (fabs(target-v) <= a){ v = target; } else if (v < target) { v = v + a; } else if (v > target) { v = v - a; } return v; } private : float a; float v; };