kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

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 kusano kiyoshige

headerfile_unuse/accelerator_.h@77:17469192b53a, 2017-09-28 (annotated)

Committer:
echo_piyo
Date:
Thu Sep 28 02:25:00 2017 +0000
Revision:
77:17469192b53a
Parent:
66:1664ee92539d 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 3:9ef929639c4a 1 class Accel
echo_piyo 3:9ef929639c4a 2 {
echo_piyo 3:9ef929639c4a 3 public :
echo_piyo 3:9ef929639c4a 4 void setup(float Acceleration, float time) {
echo_piyo 3:9ef929639c4a 5 a = Acceleration*time;
echo_piyo 3:9ef929639c4a 6 v = 0;
echo_piyo 3:9ef929639c4a 7 }
echo_piyo 3:9ef929639c4a 8
echo_piyo 3:9ef929639c4a 9 float duty(float target) {
echo_piyo 3:9ef929639c4a 10 if (fabs(target-v) <= a){
echo_piyo 3:9ef929639c4a 11 v = target;
echo_piyo 3:9ef929639c4a 12 } else if (v < target) {
echo_piyo 3:9ef929639c4a 13 v = v + a;
echo_piyo 3:9ef929639c4a 14 } else if (v > target) {
echo_piyo 3:9ef929639c4a 15 v = v - a;
echo_piyo 3:9ef929639c4a 16 }
echo_piyo 3:9ef929639c4a 17 return v;
echo_piyo 3:9ef929639c4a 18 }
echo_piyo 3:9ef929639c4a 19
echo_piyo 3:9ef929639c4a 20 private :
echo_piyo 3:9ef929639c4a 21 float a;
echo_piyo 3:9ef929639c4a 22 float v;
echo_piyo 3:9ef929639c4a 23 };