kazuma yamanaka / 2022_Ateam_MOTORprogram

自己位置推定機能を追加

Dependencies:   SBDBT arrc_mbed BNO055

AUTOmatics.hpp@8:f2407caf81ba, 2022-03-05 (annotated)

Committer:
kazumayamanaka
Date:
Sat Mar 05 01:00:42 2022 +0000
Revision:
8:f2407caf81ba
Parent:
7:a0b9b6e71e41 
program of motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazumayamanaka 7:a0b9b6e71e41 1 #ifndef AUTOMATICS_H
kazumayamanaka 7:a0b9b6e71e41 2 #define AUTOMATICS_H
kazumayamanaka 7:a0b9b6e71e41 3 #include "mbed.h"
kazumayamanaka 7:a0b9b6e71e41 4
kazumayamanaka 8:f2407caf81ba 5 #define MAXSPEED 500
kazumayamanaka 8:f2407caf81ba 6
kazumayamanaka 7:a0b9b6e71e41 7 class automatics{
kazumayamanaka 8:f2407caf81ba 8 public:
kazumayamanaka 8:f2407caf81ba 9 void getTarget(double,double,double);
kazumayamanaka 8:f2407caf81ba 10 void getCurrent(double,double,double);
kazumayamanaka 8:f2407caf81ba 11 double get_xPWM(),get_yPWM(),get_tPWM();
kazumayamanaka 8:f2407caf81ba 12 private:
kazumayamanaka 8:f2407caf81ba 13 double targetX,targetY,targetT;
kazumayamanaka 8:f2407caf81ba 14 double currentX,currentY,currentT;
kazumayamanaka 8:f2407caf81ba 15 double diffX,diffY,diffT;
kazumayamanaka 8:f2407caf81ba 16 double xCp,yCp,tCp;
kazumayamanaka 8:f2407caf81ba 17 double xP,yP,tP;
kazumayamanaka 8:f2407caf81ba 18 double xPWM,yPWM,tPWM;
kazumayamanaka 8:f2407caf81ba 19
kazumayamanaka 8:f2407caf81ba 20 void Calc_diff();
kazumayamanaka 8:f2407caf81ba 21 void Calc_Cp();
kazumayamanaka 8:f2407caf81ba 22 void Calc_PWM();
kazumayamanaka 8:f2407caf81ba 23 void Calc_Pval();
kazumayamanaka 8:f2407caf81ba 24 };
kazumayamanaka 8:f2407caf81ba 25
kazumayamanaka 8:f2407caf81ba 26 #endif
kazumayamanaka 8:f2407caf81ba 27
kazumayamanaka 8:f2407caf81ba 28