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Dependents: 17robo_fuzi 17robo_tokyo_kaede
accelerator.cpp@0:e7a61140ec7d, 2017-09-20 (annotated)
- Committer:
- echo_piyo
- Date:
- Wed Sep 20 07:06:29 2017 +0000
- Revision:
- 0:e7a61140ec7d
(??)?????????????????encorder.h???????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
echo_piyo | 0:e7a61140ec7d | 1 | |
echo_piyo | 0:e7a61140ec7d | 2 | #include "accelerator.h" |
echo_piyo | 0:e7a61140ec7d | 3 | #include "mbed.h" |
echo_piyo | 0:e7a61140ec7d | 4 | |
echo_piyo | 0:e7a61140ec7d | 5 | void Accelerator::setup(float Acceleration, float time){ |
echo_piyo | 0:e7a61140ec7d | 6 | a = Acceleration*time; |
echo_piyo | 0:e7a61140ec7d | 7 | v = 0; |
echo_piyo | 0:e7a61140ec7d | 8 | } |
echo_piyo | 0:e7a61140ec7d | 9 | |
echo_piyo | 0:e7a61140ec7d | 10 | float Accelerator::duty(float target){ |
echo_piyo | 0:e7a61140ec7d | 11 | if (fabs(target-v) <= a) { |
echo_piyo | 0:e7a61140ec7d | 12 | v = target; |
echo_piyo | 0:e7a61140ec7d | 13 | } else if (v < target) { |
echo_piyo | 0:e7a61140ec7d | 14 | v = v + a; |
echo_piyo | 0:e7a61140ec7d | 15 | } else if (v > target) { |
echo_piyo | 0:e7a61140ec7d | 16 | v = v - a; |
echo_piyo | 0:e7a61140ec7d | 17 | } |
echo_piyo | 0:e7a61140ec7d | 18 | return v; |
echo_piyo | 0:e7a61140ec7d | 19 | } |