kusano kiyoshige / mecanum

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Dependents:   17robo_fuzi 17robo_tokyo_kaede

mecanum.h@0:f3c5ba43a1aa, 2017-09-24 (annotated)

Committer:
echo_piyo
Date:
Sun Sep 24 05:24:12 2017 +0000
Revision:
0:f3c5ba43a1aa
????2??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:f3c5ba43a1aa 1 /*
echo_piyo 0:f3c5ba43a1aa 2 Mecanum mecanum
echo_piyo 0:f3c5ba43a1aa 3
echo_piyo 0:f3c5ba43a1aa 4 Sbdbtの入力 +y↑ -y↓ +x→ -x←
echo_piyo 0:f3c5ba43a1aa 5 .setupdeg([float]Deg) //角度センサの初期値設定
echo_piyo 0:f3c5ba43a1aa 6 .sbdbt_cal([float]Vx, [float]Vy, [int]con_rl, [int]con_l1, [float]w, [float]angle) //使わない部分は0を代入
echo_piyo 0:f3c5ba43a1aa 7 .xy_cal([float]Vx, [float]Vy) //xyの代入値(-1.0 ~ 1.0)
echo_piyo 0:f3c5ba43a1aa 8
echo_piyo 0:f3c5ba43a1aa 9 .v1 //(返り値[float] -1.0 ~ 1.0) モータ1用出力
echo_piyo 0:f3c5ba43a1aa 10 .v2 //(返り値[float] -1.0 ~ 1.0) モータ2用出力
echo_piyo 0:f3c5ba43a1aa 11 .v3 //(返り値[float] -1.0 ~ 1.0) モータ3用出力
echo_piyo 0:f3c5ba43a1aa 12 .v4 //(返り値[float] -1.0 ~ 1.0) モータ4用出力
echo_piyo 0:f3c5ba43a1aa 13
echo_piyo 0:f3c5ba43a1aa 14 メカナム設置図
echo_piyo 0:f3c5ba43a1aa 15 ↑→ →↓
echo_piyo 0:f3c5ba43a1aa 16 O---O
echo_piyo 0:f3c5ba43a1aa 17 O---O
echo_piyo 0:f3c5ba43a1aa 18 ←↑ ↓←
echo_piyo 0:f3c5ba43a1aa 19
echo_piyo 0:f3c5ba43a1aa 20
echo_piyo 0:f3c5ba43a1aa 21 */
echo_piyo 0:f3c5ba43a1aa 22
echo_piyo 0:f3c5ba43a1aa 23 #define rotaPower 0.6
echo_piyo 0:f3c5ba43a1aa 24 #define rotaStickPower 0.35
echo_piyo 0:f3c5ba43a1aa 25 #define boost_A 0.5
echo_piyo 0:f3c5ba43a1aa 26 #define boost_K 0.9
echo_piyo 0:f3c5ba43a1aa 27 #define PI 3.141592
echo_piyo 0:f3c5ba43a1aa 28
echo_piyo 0:f3c5ba43a1aa 29 #ifndef MBED_MECANUM_H
echo_piyo 0:f3c5ba43a1aa 30 #define MBED_MECANUM_H
echo_piyo 0:f3c5ba43a1aa 31
echo_piyo 0:f3c5ba43a1aa 32 #include "mbed.h"
echo_piyo 0:f3c5ba43a1aa 33
echo_piyo 0:f3c5ba43a1aa 34 class Mecanum{
echo_piyo 0:f3c5ba43a1aa 35 public:
echo_piyo 0:f3c5ba43a1aa 36 void sbdbt_cal(float Vx, float Vy, int r1, int l1,float w, float angle);
echo_piyo 0:f3c5ba43a1aa 37 void setupdeg(float Deg);
echo_piyo 0:f3c5ba43a1aa 38 void boost();
echo_piyo 0:f3c5ba43a1aa 39 void boost_forward();
echo_piyo 0:f3c5ba43a1aa 40 void boost_back();
echo_piyo 0:f3c5ba43a1aa 41 void boost_right();
echo_piyo 0:f3c5ba43a1aa 42 void boost_left();
echo_piyo 0:f3c5ba43a1aa 43 void xy_cal(float Vx, float Vy);
echo_piyo 0:f3c5ba43a1aa 44 float v1();
echo_piyo 0:f3c5ba43a1aa 45 float v2();
echo_piyo 0:f3c5ba43a1aa 46 float v3();
echo_piyo 0:f3c5ba43a1aa 47 float v4();
echo_piyo 0:f3c5ba43a1aa 48 float VX();
echo_piyo 0:f3c5ba43a1aa 49 float VY();
echo_piyo 0:f3c5ba43a1aa 50 private:
echo_piyo 0:f3c5ba43a1aa 51 float V1, V2, V3, V4, vx, vy;
echo_piyo 0:f3c5ba43a1aa 52 float first_deg, rad;
echo_piyo 0:f3c5ba43a1aa 53 };
echo_piyo 0:f3c5ba43a1aa 54
echo_piyo 0:f3c5ba43a1aa 55 #endif