kohei matsumoto / Mbed 2 deprecated NHK_CenterArm1

DRのPS3での操作用(アームの開閉をコントローラで制御可能)

Dependencies:   mbed CalPID motorout ros_lib_melodic MotorController_AbsEC

AMT21/AMT21.h@0:83b2c6a67cce, 2021-07-08 (annotated)

Committer:
ayu13
Date:
Thu Jul 08 03:46:29 2021 +0000
Revision:
0:83b2c6a67cce
Child:
1:c0a3e4589a8f
ROS_before

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ayu13 0:83b2c6a67cce 1 #ifndef _INCLUDED_AMT212_H_
ayu13 0:83b2c6a67cce 2 #define _INCLUDED_AMT212_H_
ayu13 0:83b2c6a67cce 3 #include "mbed.h"
ayu13 0:83b2c6a67cce 4
ayu13 0:83b2c6a67cce 5 #define SEND 1
ayu13 0:83b2c6a67cce 6 #define RECEIVE 0
ayu13 0:83b2c6a67cce 7 #define RECEIVE_COUNT 0
ayu13 0:83b2c6a67cce 8 #define RECEIVE_TURN 2
ayu13 0:83b2c6a67cce 9 #define GET_COUNT 84
ayu13 0:83b2c6a67cce 10 #define GET_TURN 85
ayu13 0:83b2c6a67cce 11 #define RESOLUTION_AMT21 16384
ayu13 0:83b2c6a67cce 12 #define DETECT_FLOW 5
ayu13 0:83b2c6a67cce 13 #define RESET 86
ayu13 0:83b2c6a67cce 14 #define COUNT_OFFSET 9312 //////////////////1568
ayu13 0:83b2c6a67cce 15 #define GEER_STEER 1
ayu13 0:83b2c6a67cce 16 #ifndef M_PI
ayu13 0:83b2c6a67cce 17 #define M_PI 3.14159265359f
ayu13 0:83b2c6a67cce 18 #endif
ayu13 0:83b2c6a67cce 19
ayu13 0:83b2c6a67cce 20
ayu13 0:83b2c6a67cce 21
ayu13 0:83b2c6a67cce 22 class Amt21
ayu13 0:83b2c6a67cce 23 {
ayu13 0:83b2c6a67cce 24 private:
ayu13 0:83b2c6a67cce 25 //////////////////////////////////////////////
ayu13 0:83b2c6a67cce 26 int low_count,high_count;
ayu13 0:83b2c6a67cce 27 int low_turn,high_turn;
ayu13 0:83b2c6a67cce 28 int receive_mode;
ayu13 0:83b2c6a67cce 29 int instruction;
ayu13 0:83b2c6a67cce 30 void sendMessage();
ayu13 0:83b2c6a67cce 31 void receiveMessage();
ayu13 0:83b2c6a67cce 32 /////////////////////////////////////////////
ayu13 0:83b2c6a67cce 33 int count_;
ayu13 0:83b2c6a67cce 34 int receive_old;
ayu13 0:83b2c6a67cce 35 int flow_count;
ayu13 0:83b2c6a67cce 36 int th_min;
ayu13 0:83b2c6a67cce 37 int th_max;
ayu13 0:83b2c6a67cce 38 int pre_count;
ayu13 0:83b2c6a67cce 39 double omega_;
ayu13 0:83b2c6a67cce 40 double pre_time;
ayu13 0:83b2c6a67cce 41
ayu13 0:83b2c6a67cce 42 int getAbCount();//カウント数取得関数
ayu13 0:83b2c6a67cce 43 int getTurn();//回転回数取得関数
ayu13 0:83b2c6a67cce 44
ayu13 0:83b2c6a67cce 45 protected:
ayu13 0:83b2c6a67cce 46 Serial serial_;//RS485通信
ayu13 0:83b2c6a67cce 47 DigitalOut rs485_mode;//送受信の切り替え
ayu13 0:83b2c6a67cce 48 public:
ayu13 0:83b2c6a67cce 49 Amt21(PinName tx,PinName rx,PinName mode);//コンストラクタ
ayu13 0:83b2c6a67cce 50
ayu13 0:83b2c6a67cce 51 Timer timer_;
ayu13 0:83b2c6a67cce 52
ayu13 0:83b2c6a67cce 53 void rewriteCount();//１周期に１度呼び出す。
ayu13 0:83b2c6a67cce 54 int getCount();//インクリメント型のカウントと同じように使えて、-のカウントや16383以上のカウントを返す。
ayu13 0:83b2c6a67cce 55 double getDeg();//角度[°]を返す
ayu13 0:83b2c6a67cce 56 double getRad();//角度[rad]を返す
ayu13 0:83b2c6a67cce 57 void calOmega();//getOmegaする前に呼び出す
ayu13 0:83b2c6a67cce 58 double getOmega();//角速度[rad/s]を返す
ayu13 0:83b2c6a67cce 59 void reset();//回転数のリセット関数。※0～360を示すカウント数はリセットされない。
ayu13 0:83b2c6a67cce 60
ayu13 0:83b2c6a67cce 61 };
ayu13 0:83b2c6a67cce 62 #endif