kazuma yamanaka / 2022_Ateam_MOTORprogram

自己位置推定機能を追加

Dependencies:   SBDBT arrc_mbed BNO055

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Show/hide line numbers TARGETco.hpp Source File

TARGETco.hpp

00001 #ifndef TARGET_CO_H
00002 #define TARGET_CO_H
00003 #include "mbed.h"
00004 #include "math.h"
00005 #define  PI 3.1415926535897
00006 
00007 class TARGETco{
00008     
00009     public:
00010         void pass_val(double XPOWER,double YPOWER,double THETA);
00011         void pass_target(double TARGET);
00012         double obt_target1();
00013         double obt_target2();
00014         double obt_target3();
00015         double obt_target4();
00016         
00017     private:
00018         void cal_angular();
00019         
00020         double theta;
00021         double Xpower,Ypower;
00022         double Xvelocity,Yvelocity;
00023         double target[4];
00024         
00025 };
00026 
00027 #endif
00028         
00029         
00030
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