Revision 0:e7a61140ec7d, committed 2017-09-20

Comitter:

echo_piyo

Date:

Wed Sep 20 07:06:29 2017 +0000

Commit message:

(??)?????????????????encorder.h???????????

Changed in this revision

--- /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

--- /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