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sampleProgram
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
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Diff: encorder.h
- Revision:
- 31:285c9898da03
- Parent:
- 10:04f2a82cfd89
- Child:
- 32:f535ace7c529
diff -r 57061e222f10 -r 285c9898da03 encorder.h --- a/encorder.h Thu Aug 24 18:20:12 2017 +0000 +++ b/encorder.h Tue Aug 29 02:07:56 2017 +0000 @@ -87,24 +87,24 @@ origin(); } - void cal(float target, float dt) { + void cal(float target, float dt){ radian = (float) count/ppr*2*PI; - degree = radian / PI * 180.0; // + degree = radian / PI * 180.0; w = (radian - oldtheta) / dt; v = 0.05*w/27; n = w*30/(PI); oldtheta = radian; //pid_cal(target, n/Nmax, dt); - deg_cylinder_cal(); // - position_cal(target, deg_cylinder, dt); + //deg_cylinder = (count / 1200) * 360 * 3 / 20; + position_cal(target, (float)count, dt); + } + + float deg(){ + return degree; } - void deg_cylinder_cal(){ - deg_cylinder = (count / 1200) * 360 * 3 / 20; - } - - float deg(){ - return degree; + float get_deg_cylinder(){ + return deg_cylinder; } float rad() {