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Dependents:   17robo_fuzi 17robo_tokyo_kaede

Files at this revision

API Documentation at this revision

Comitter:
echo_piyo
Date:
Wed Sep 20 07:06:29 2017 +0000
Commit message:
(??)?????????????????encorder.h???????????

Changed in this revision

accelerator.cpp Show annotated file Show diff for this revision Revisions of this file
accelerator.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r e7a61140ec7d accelerator.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accelerator.cpp	Wed Sep 20 07:06:29 2017 +0000
@@ -0,0 +1,19 @@
+
+#include "accelerator.h"
+#include "mbed.h"
+
+void Accelerator::setup(float Acceleration, float time){
+    a = Acceleration*time;
+    v = 0;
+}
+
+float Accelerator::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;
+}
\ No newline at end of file
diff -r 000000000000 -r e7a61140ec7d accelerator.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accelerator.h	Wed Sep 20 07:06:29 2017 +0000
@@ -0,0 +1,21 @@
+/*
+* [Accelerator]
+* 時間を指定し段階的な加減速を行う
+*/
+
+#ifndef MBED_ACCELERATOR_H
+#define MBED_ACCELERATOR_H
+
+#include "mbed.h"
+
+class Accelerator{
+public  :
+    void setup(float Acceleration, float time);
+    float duty(float target);
+
+private :
+    float a;
+    float v;
+};
+
+#endif
\ No newline at end of file