kazuma yamanaka / 2022_Ateam_MOTORprogram

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?

UserRevisionLine numberNew 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