kusano kiyoshige / Mbed 2 deprecated 17robo_fuzi

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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

Committer:
echo_piyo
Date:
2017-09-24
Revision:
66:1664ee92539d
Parent:
accelerator.h@ 3:9ef929639c4a

File content as of revision 66:1664ee92539d:

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;
};