自己位置推定機能を追加
Dependencies: SBDBT arrc_mbed BNO055
AUTOmatics.hpp
- Committer:
- kazumayamanaka
- Date:
- 2022-03-05
- Revision:
- 8:f2407caf81ba
- Parent:
- 7:a0b9b6e71e41
File content as of revision 8:f2407caf81ba:
#ifndef AUTOMATICS_H #define AUTOMATICS_H #include "mbed.h" #define MAXSPEED 500 class automatics{ public: void getTarget(double,double,double); void getCurrent(double,double,double); double get_xPWM(),get_yPWM(),get_tPWM(); private: double targetX,targetY,targetT; double currentX,currentY,currentT; double diffX,diffY,diffT; double xCp,yCp,tCp; double xP,yP,tP; double xPWM,yPWM,tPWM; void Calc_diff(); void Calc_Cp(); void Calc_PWM(); void Calc_Pval(); }; #endif