自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
Odmetry.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
kazumayamanaka | 2:e189d55ef292 | 1 | #ifndef ODMETRY_H |
kazumayamanaka | 2:e189d55ef292 | 2 | #define ODMETRY_H |
kazumayamanaka | 2:e189d55ef292 | 3 | |
kazumayamanaka | 2:e189d55ef292 | 4 | #include "mbed.h" |
kazumayamanaka | 2:e189d55ef292 | 5 | #define Co (108 * 3.1415926535897) / 512 |
kazumayamanaka | 2:e189d55ef292 | 6 | #define PI 3.1415926535897 |
kazumayamanaka | 2:e189d55ef292 | 7 | |
kazumayamanaka | 2:e189d55ef292 | 8 | class Odmetry{ |
kazumayamanaka | 2:e189d55ef292 | 9 | public: |
kazumayamanaka | 2:e189d55ef292 | 10 | Odmetry(); |
kazumayamanaka | 2:e189d55ef292 | 11 | void pass_pulse(double PULSE1,double PULSE2,double PULSE3,double PULSE4); |
kazumayamanaka | 2:e189d55ef292 | 12 | void pass_angle(double THETA); |
kazumayamanaka | 2:e189d55ef292 | 13 | void print_Pos(); |
kazumayamanaka | 7:a0b9b6e71e41 | 14 | double obt_CurrentPosX(); |
kazumayamanaka | 7:a0b9b6e71e41 | 15 | double obt_CurrentPosY(); |
kazumayamanaka | 7:a0b9b6e71e41 | 16 | double obt_CurrentTheta(); |
kazumayamanaka | 2:e189d55ef292 | 17 | |
kazumayamanaka | 2:e189d55ef292 | 18 | private: |
kazumayamanaka | 2:e189d55ef292 | 19 | void Angular(); |
kazumayamanaka | 2:e189d55ef292 | 20 | void CalcPosition(); |
kazumayamanaka | 2:e189d55ef292 | 21 | void CalcSpd(); |
kazumayamanaka | 2:e189d55ef292 | 22 | void transform(); |
kazumayamanaka | 2:e189d55ef292 | 23 | |
kazumayamanaka | 2:e189d55ef292 | 24 | double Radius; |
kazumayamanaka | 2:e189d55ef292 | 25 | double Wradius; |
kazumayamanaka | 2:e189d55ef292 | 26 | double Omega[4]; |
kazumayamanaka | 2:e189d55ef292 | 27 | double spd[4]; |
kazumayamanaka | 2:e189d55ef292 | 28 | double pulse_a[4],pulse_b[4],diff[4]; |
kazumayamanaka | 2:e189d55ef292 | 29 | double Xspd,Yspd; |
kazumayamanaka | 2:e189d55ef292 | 30 | double Xpower,Ypower; |
kazumayamanaka | 2:e189d55ef292 | 31 | double XPos,YPos,Theta; |
kazumayamanaka | 2:e189d55ef292 | 32 | double dt; |
kazumayamanaka | 2:e189d55ef292 | 33 | }; |
kazumayamanaka | 2:e189d55ef292 | 34 | |
kazumayamanaka | 2:e189d55ef292 | 35 | #endif |
kazumayamanaka | 2:e189d55ef292 | 36 |